Unmanned lifeboat

Abstract

The utility model relates to life saving equipment technical field, especially an unmanned life saving boat. Including ship body, safe fence board device, its symmetrical setting is at the both outside sides of ship body, steering mechanical arm device, the both outside sides of ship body are connected with a plurality of steering mechanical arm device respectively, and the steering mechanical arm device between the both sides of ship body is symmetrically set, drive arrangement, through steering mechanical arm device and ship body connection, imitate scorpion tail device, with the tail of ship body connection. Its work time effect nimble, can not consider the water entry posture when releasing unmanned life saving boat and throw directly, shorten the rescue time, maximize guarantee the safety of the person who falls into the water.

Description

Technical Field

[0001] This utility model relates to the field of lifesaving equipment technology, and in particular to an unmanned lifeboat. Background Technology

[0002] In the face of drowning incidents, the most widely used methods are still manual rescue or ordinary lifesaving equipment. When rescuers attempt to rescue a drowning person by hand, the person is usually unable to remain calm, and there is also the risk of being dragged into the water by the rescuer. Ordinary lifesaving equipment generally consists of an inflatable lifeboat, life jacket, and life ring. The lifeboat needs to be inflated before use, is difficult to operate, and cannot quickly reach the drowning person. Remote-controlled lifeboats are remotely controlled by the operator to reach the drowning person, who then grabs the lifeboat to achieve the rescue, and then returns to shore. Therefore, this rescue method requires the drowning person to be conscious and cooperate with the rescue; if the drowning person has lost consciousness, this rescue strategy will be ineffective. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and propose an unmanned rescue boat that can be used flexibly during operation. When releasing the unmanned rescue boat, it can be thrown directly without considering the water entry posture, thereby shortening the rescue time and maximizing the safety of people who have fallen into the water.

[0004] The technical solution of this utility model is: an unmanned lifeboat, including a hull, and further comprising: Safety cofferdam devices are symmetrically arranged on the two outer sides of the hull. The steering robotic arm device consists of several steering robotic arms connected to the two outer sides of the hull, and the steering robotic arms on both sides of the hull are arranged symmetrically. The drive unit is connected to the hull via a steering robotic arm. The scorpion-tail-like device is connected to the stern of the ship.

[0005] In this invention, the hull includes a hull body, an energy watertight box is provided inside the front end of the hull body, and a scorpion tail device connection hole is provided at the stern end of the hull body for connection with the scorpion tail device. The outer side of the hull is provided with safety cofferdam mounting holes and safety mast connection holes for connecting to the safety cofferdam device, as well as mechanical arm connection holes for connecting to the steering mechanical arm device. Watertight baffles are installed at the connection points between the hull body and the safety bulkhead and steering mechanism.

[0006] The safety cofferdam device includes a safety mast and a safety cofferdam, with the safety cofferdam located between two safety masts and arranged symmetrically between the safety masts and the safety cofferdam on both sides of the hull; The safety mast consists of a fixedly connected horizontal section and a vertical section. The horizontal section is rotatably installed in the safety mast mounting hole, and the top of the vertical section is located above the hull. The safety enclosure is fixed to the mounting beam, and the two ends of the mounting beam are rotatably connected to the connecting columns. The connecting columns are rotatably installed in the mounting holes of the safety enclosure, and the top of the safety enclosure is located above the hull.

[0007] The steering manipulator device includes a telescopic manipulator, the two ends of which are connected to the hull and the drive device respectively via universal joint couplings and connecting supports. The telescopic robotic arm includes a fixed robotic arm and a telescopic robotic arm. One end of the fixed robotic arm is slidably connected to the telescopic robotic arm, and the other end of the fixed robotic arm is fixed with a second U-shaped bracket. One end of the telescopic robotic arm is slidably connected to the fixed robotic arm, and the other end of the telescopic robotic arm is fixed with a second U-shaped bracket. The second U-shaped bracket has two symmetrical second coupling connection holes.

[0008] The connecting support includes a first U-shaped bracket, the free end of which is provided with two symmetrical first coupling connection holes, and the other end of the first U-shaped bracket is fixed with a flange. The flange facing the drive unit has a support positioning shaft at its center that is connected to the drive unit; the flange facing the hull has a rotating hole at its center, and a rotating shaft is installed in the rotating hole and fixedly connected to the hull.

[0009] The universal joint coupling includes a cross bushing and a cross shaft disposed on the cross bushing. The cross shaft includes four shafts. Two of the shafts are symmetrically arranged and connect to the first coupling connection hole of the first U-shaped bracket to realize the connection between the universal joint coupling and the connecting support. The other two shafts are symmetrically arranged and connect to the second coupling connection hole of the second U-shaped bracket to realize the connection between the universal joint coupling and the telescopic robotic arm.

[0010] The drive unit includes: Propeller blades, which are fixed to the propeller hub; The propeller support has several propeller brackets spaced apart on its inner surface. The propeller hub is located at the center of the propeller support, and the propeller hub and the propeller brackets are rotatably connected. The connecting column is fixed to the propeller support and is rotatably positioned within the center hole of the flange support.

[0011] The scorpion-tail device includes a base and several scorpion tail sections. One end of the base is fixedly installed in the connection hole of the scorpion-tail device at the stern of the hull, and the other end of the base is hinged to the several scorpion tail sections. The tail of the scorpion tail sections is equipped with sensors. The scorpion's tail segments are connected by a hinge.

[0012] The base includes a first extension arm; One end of the first extension arm is fixed to a base, and the base is fixedly connected to the scorpion tail device connection hole on the hull. The other end of the first extended arm is provided with a first rotatable U-shaped bracket, and a first servo motor is provided inside the first extended arm. The first servo motor is connected to the first rotatable U-shaped bracket in a transmission connection, and the extended arm is connected to the scorpion tail segment through the first rotatable U-shaped bracket.

[0013] According to the direction from far to near along the base, the scorpion's tail segment includes the first scorpion's tail segment, the second scorpion's tail segment, and the third scorpion's tail segment; The third scorpion tail segment includes a fourth extended arm, and the two ends of the fourth extended arm are respectively fixed with a second U-shaped bracket connecting seat. The second U-shaped bracket connecting seat realizes the hinge connection between the third scorpion tail segment and the base, as well as between the third scorpion tail segment and the second scorpion tail segment. The second tail segment includes a third extended arm, and the two ends of the third extended arm are respectively provided with a second rotatable U-shaped bracket. The second rotatable U-shaped bracket facing the third tail segment is rotatably connected to the second U-shaped bracket connecting seat of the third tail segment. The two ends of the third extended arm are respectively provided with a second servo motor, and the second servo motor is connected to the second rotatable U-shaped bracket in a transmission connection. The first scorpion tail segment includes a second extended arm. The end of the second extended arm facing the second scorpion tail segment is provided with a first U-shaped bracket connecting seat. The first U-shaped bracket connecting seat is rotatably connected to the second rotatable U-shaped bracket of the second scorpion tail segment. The other end of the corresponding second extended arm is fixed with a sensor mounting seat, and the sensor is mounted on the sensor mounting seat.

[0014] The beneficial effects of this utility model are: (1) The components of the unmanned vessel are connected by bolts or hinges, which facilitates disassembly and replacement and has a positive effect on the maintenance of the lifeboat. (2) The scorpion tail device adopts a multi-segment connection structure. By changing the angle of each scorpion tail connection, the sensor installed on the scorpion tail device can observe the water surface through different postures and provide the location information of the person who fell into the water. (3) Through the cooperation between the scorpion tail device and the steering mechanical arm device, the rescue work can be completed no matter which side of the hull enters the water; the ship has a built-in rudder, and the rotation of the rudder drives the safety panel to rotate. This design can ensure that the panel is always above the hull, effectively preventing the person from falling into the water again. (4) Adjust the working angle of the azimuth propeller according to the actual working conditions. At this time, the steering manipulator naturally adjusts its own state according to the movement trend, thereby realizing the adjustment of the hull attitude and providing the attitude of the unmanned rescue boat suitable for underwater rescue, such as forward, backward, turning, sinking, and floating, so that the unmanned rescue boat can realize the rescue work. (5) The unmanned rescue boat of this application uses multiple fully rotating propellers and is used in conjunction with a steering robotic arm device, so that the unmanned rescue boat that can dive into the water for rescue can operate flexibly when working. With the scorpion tail-like device, when releasing the unmanned rescue boat that can dive into the water for rescue, it can be thrown directly without considering the water entry posture, which can shorten the rescue time and maximize the safety of people who fall into the water. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model; Figure 2 This is a schematic diagram of the left-side structure of this utility model; Figure 3 This is a schematic diagram of the ship's left-hand structure; Figure 4 This is a schematic diagram of the ship's main structural view; Figure 5 yes Figure 4 A schematic diagram of the AA-direction cross-sectional structure; Figure 6 This is a schematic diagram of the main structure of the energy watertight box; Figure 7 yes Figure 6 Schematic diagram of the BB-direction cross-section structure; Figure 8 This is a structural diagram of the safety enclosure; Figure 9 This is a structural diagram of a safety mast; Figure 10 This is a schematic diagram of the distribution structure of the steering robotic arm device and the azimuth propeller in this embodiment; Figure 11 This is a schematic diagram of the main structure of a fully rotating propeller; Figure 12 This is a schematic diagram of the left-hand structure of a fully rotating propeller; Figure 13 This is a schematic diagram of the steering mechanism. Figure 14 This is a structural schematic diagram of the connecting support; Figure 15 This is a schematic diagram of the universal joint coupling. Figure 16 This is a structural diagram of a retractable robotic arm; Figure 17This is a three-dimensional structural diagram of the scorpion tail-like device; Figure 18 This is a schematic diagram of the main structure of the scorpion tail-like device; Figure 19 This is a structural diagram of the base; Figure 20 This is a schematic diagram of the structure of the third scorpion tail segment; Figure 21 This is a schematic diagram of the structure of the second scorpion tail segment; Figure 22 This is a schematic diagram of the structure of the first scorpion tail segment.

[0016] In the diagram: 1. Hull; 11. Hull body; 12. Energy watertight tank; 121. Energy watertight tank body; 122. Energy watertight tank cover; 123. Watertight cover mounting hole; 124. Watertight strip tunnel; 13. Watertight bulkhead; 14. Safety mast mounting hole; 15. Mechanical arm connection hole; 16. Safety cofferdam mounting hole. 2. Safety enclosure device; 21. Safety enclosure; 22. Safety mast; 23. Connecting column; 25. Mounting beam; 3. Drive unit; 31. First azimuth propeller; 32. Second azimuth propeller; 33. Third azimuth propeller; 34. Fourth azimuth propeller; 311. Connecting column; 312. Propeller hub; 313. Propeller blade; 314. Propeller bracket; 315. Propeller support; 4. Steering robotic arm device; 41. Connecting support; 411. Coupling mounting hole; 412. First U-shaped bracket; 414. Support positioning shaft hole; 415. Flange; 42. Universal joint coupling; 421. Cross shaft; 422. Cross bushing; 43. Telescopic robotic arm; 431. Second coupling connecting hole; 432. Robotic arm fixed arm; 433. Robotic arm telescopic arm; 434. Second U-shaped bracket; 5. Scorpion-tail-like device; 51. Base; 511. First U-shaped bracket connection hole; 512. First rotatable U-shaped bracket; 513. First extension arm; 52. First scorpion tail segment; 521. First U-shaped bracket connection seat; 522. Second extension arm; 523. Sensor mounting seat; 53. Second scorpion tail segment; 531. Second U-shaped bracket connection hole; 532. Second rotatable U-shaped bracket; 533. Third extension arm; 54. Third scorpion tail segment; 541. Second U-shaped bracket connection seat; 542. Third U-shaped bracket connection hole; 543. Fourth extension arm. Detailed Implementation

[0017] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0018] Specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention can be implemented in many ways other than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0019] like Figure 1 and Figure 2 As shown, the unmanned lifeboat of this utility model includes a hull 1, with a scorpion-tail-like device 5 connected to the stern of the hull 1. Safety bulkhead devices 2 are symmetrically arranged on both outer sides of the hull 1, and the safety bulkhead devices 2 are connected to the sides of the hull 1. Simultaneously, several steering robotic arms 4 are connected to both outer sides of the hull 1, and the steering robotic arms 4 on both sides of the hull are symmetrically arranged. A drive unit 3 is connected to the hull 1 through the steering robotic arms 4; that is, one end of the steering robotic arm 4 is connected to the hull 1, and the other end of the steering robotic arm 4 is hinged to the drive unit 3. Waterproof sealing rings are used to seal the safety bulkhead devices 2, steering robotic arms 4, and scorpion-tail-like device 5 when they are connected to the hull 1.

[0020] like Figures 3 to 5 As shown, the hull 1 includes a hull body 11, which is made of a waterproof composite material with high strength and toughness. An energy watertight tank 12 is located at the front of the hull body 11 to stabilize the overall center of gravity of the device.

[0021] The outer sides of both sides of the hull body 11 are respectively provided with safety mast mounting holes 14, robotic arm connection holes 15, and safety cofferdam mounting holes 16. The safety cofferdam device 2 is connected to the hull through the safety cofferdam mounting holes 14 and 16, and the steering robotic arm device 4 is connected to the hull through the robotic arm connection hole 15. The connections between the hull and the safety cofferdam device 2, and the steering robotic arm device 4, are respectively watertight. In this application, a watertight partition 13 is installed inside the hull body 11 to achieve a sealed connection between the hull and the safety cofferdam device 2, and between the hull and the steering robotic arm device 4.

[0022] The stern of the hull body 11 is provided with a scorpion tail device connection hole 16, and the scorpion tail device 5 is connected to the hull 1 through the scorpion tail device connection hole 16.

[0023] A recess is provided at the front of the hull body 11, and an energy watertight box 12 is disposed within this recess. The top surface of the energy watertight box 12 is flush with the upper surface of the hull body 11. Figure 6 and Figure 7As shown, the energy watertight box 12 includes an energy watertight box body 121 disposed within the hull body 11, with the top of the energy watertight box body 121 sealed to an energy watertight box cover 122. The energy watertight box body 121 and the energy watertight box cover 122 are fixedly connected by bolts, and a watertight box cover mounting hole 123 is provided on the energy watertight box body 121. A sealing strip is provided between the contact surfaces of the energy watertight box body 121 and the energy watertight box cover 122, and the sealing strip is disposed within a watertight strip groove 124 on the bottom surface of the energy watertight box cover 122.

[0024] like Figure 8 and Figure 9 As shown, the safety enclosure device 2 includes a safety enclosure 21 and a safety mast 22. In this embodiment, the safety enclosure device 2 includes two safety masts 22, with the safety enclosure 21 located between the two safety masts 22. The safety mast 22 is L-shaped and includes a horizontal section and a vertical section that are fixedly connected. The horizontal section is rotatably installed in the safety mast mounting hole 14, and the vertical section is installed in the vertical direction. The top of the safety mast 22 is located above the hull 1.

[0025] In this embodiment, a servo motor is provided at the connection between the safety mast 22 and the hull 1. The servo motor is installed in the safety mast mounting hole 14 of the hull. The output shaft of the servo motor is connected to the horizontal section of the safety mast 22. The servo motor can drive the safety mast 22 to rotate in the safety mast mounting hole, so that the top of the mast can always be above the hull.

[0026] The safety cofferdam 21 is a quadrilateral plate that is fixedly connected to the mounting beam 25. Both ends of the mounting beam 25 are connected to the hull via connecting posts 23. The connecting posts 23 are rotatably mounted within the safety cofferdam mounting holes 16, while the ends of the mounting beam 25 are rotatably connected to the connecting posts 23. The top of the safety cofferdam 21 is located above the hull 1.

[0027] In this embodiment, a servo motor is provided at the connection between the mounting beam 25 and the connecting column 23, and the servo motor is installed in the hinge hole inside the connecting column 23. The output shaft of the servo motor is connected to the mounting beam 25, and the servo motor can drive the mounting beam 25 to rotate. The rotation of the mounting beam 25 simultaneously drives the safety enclosure 21 to rotate, ensuring that the top of the safety enclosure 21 is always above the hull. By setting up the safety mast 22 and the safety enclosure 21, it is possible to effectively prevent personnel from falling into the water again.

[0028] The drive unit 3 provides power for the operation of the entire device. The drive unit in this application uses a azimuth propeller. In this embodiment, four azimuth propellers are used: a first azimuth propeller 31, a second azimuth propeller 32, a third azimuth propeller 33, and a fourth azimuth propeller 34. These four azimuth propellers are arranged in a linear array around the hull, as shown below. Figure 10 As shown.

[0029] like Figure 11 and Figure 12 As shown, the azimuth propeller includes a propeller support 315, a propeller hub 312, and propeller blades 313. The propeller support 315 provides support for the entire azimuth propeller. The propeller support 315 is annular, with a tail shaft at its center. One end of the tail shaft is fixedly connected to the inner surface of the propeller support 315 via several propeller brackets 314, which are evenly spaced along the circumference of the propeller support 315. The other end of the tail shaft is rotatably connected to the propeller hub 312, with several propeller blades 313 spaced at intervals on the annular outer side of the propeller hub 312. A drive motor is installed inside the tail shaft. During the operation of the drive motor, the propeller hub 312 rotates around the tail shaft, simultaneously driving the propeller blades 313 to rotate, providing power for the movement of the unmanned lifeboat. The propeller support 315 is rotatably connected to the steering robotic arm device 4 via a connecting column 311. A servo motor is installed inside the connecting column. By changing the rotation direction of the connecting column 311 through the servo motor, the rotation direction of the azimuth propeller can be controlled.

[0030] like Figure 13 As shown, the steering robotic arm device 4 includes a connecting support 41, a universal joint coupling 42, and a telescopic robotic arm 43. The two ends of the telescopic robotic arm 43 are connected to the connecting support 41 through the universal joint coupling 42.

[0031] like Figure 14 As shown, the connecting support includes a first U-shaped bracket 412. Each of the two symmetrical side plates of the first U-shaped bracket 412 has a coupling mounting hole 411 at its end. Through the coupling mounting holes 411, a rotatable connection is achieved between the connecting support and the universal joint coupling 42. The arc-shaped plates of the two symmetrical side plates of the first U-shaped bracket are fixedly connected to the flange 415. A support positioning shaft hole 414 is provided at the center of the flange 415 facing the drive device. The connecting column 311 of the azimuth propeller is rotatably disposed within the support positioning shaft hole 414, achieving a rotatable connection between the connecting support 41 and the azimuth propeller. Simultaneously, a rotating hole is provided at the center of the flange facing the hull, and a rotating shaft is provided within the rotating hole. The rotating shaft is fixedly connected to the hull, thereby achieving a rotatable connection between the connecting support 41 and the hull.

[0032] like Figure 15 As shown, the universal joint coupling includes a cross bushing 422 and four shafts fixed inside the cross bushing 422, which together form a cross shaft 421. Of the four shafts, two symmetrically arranged shafts are connected to a connecting support 41, and the other two symmetrically arranged shafts are connected to a telescopic robotic arm 43, thereby realizing the connection between the connecting support 41 and the telescopic robotic arm 43.

[0033] The universal joint coupling enables a 360° rotational connection between the steering manipulator 4 and the hull, as well as between the steering manipulator 4 and the azimuth propeller. When the angle of the azimuth propeller changes, the steering manipulator 4 can adjust its own working state accordingly based on the propeller's motion trend, thereby adjusting the attitude of the steering manipulator 4 and the hull to a suitable position to meet the requirements of rescue operations.

[0034] like Figure 16 As shown, the retractable robotic arm 43 includes a fixed robotic arm 432 and a telescopic robotic arm 433. The fixed robotic arm 432 and the telescopic robotic arm 433 can slide relative to each other, thereby achieving adjustable length of the retractable robotic arm 43. In this embodiment, one end of the telescopic robotic arm 433 is slidably disposed within the fixed robotic arm 432. The annular outer surface of the telescopic robotic arm 433 has several axially arranged protrusions, and correspondingly, the annular inner surface of the fixed robotic arm 432 has several axially arranged grooves. The protrusions are slidably disposed within the grooves, guiding the relative sliding between the fixed robotic arm 432 and the telescopic robotic arm 433.

[0035] One end of the fixed arm 432 of the robotic arm is slidably connected to the telescopic arm 433 of the robotic arm, and the other end of the fixed arm 432 is fixed with a second U-shaped bracket 434. The second U-shaped bracket 434 has two symmetrical second coupling connection holes 431. Two symmetrically arranged cross shafts 421 on the universal joint coupling are respectively installed in the second coupling connection holes 431, thereby realizing the connection between both ends of the telescopic robotic arm 43 and the universal joint coupling.

[0036] The scorpion-tail-like device 5 includes a base 51 and several scorpion-tail segments. The base 51 is fixedly connected to the stern of the hull 1, and the base and the scorpion-tail segments are hinged, with adjacent scorpion-tail segments also hinged. In this embodiment, the scorpion-tail-like device 5 includes three scorpion-tail segments, which, from far to near along the base, are the first scorpion-tail segment 52, the second scorpion-tail segment 53, and the third scorpion-tail segment 54, as shown below. Figure 17 and Figure 18 As shown, adjacent tail segments are hinged, and the third tail segment 54 is hinged to the base 51. When the scorpion-tail-like device emerges from the water, it detects water surface information through its onboard sensors and transmits this information to the land-based processor. The processor then controls the propeller and robotic arm movements based on the detected water surface information. By changing the shape of the tail segments, the sensors find a suitable detection angle.

[0037] like Figure 19As shown, the base includes a first extension arm 513 and a base 515. The first extension arm 513 is arranged in a vertical direction. One end of the first extension arm 513 is fixedly connected to the base 515. The base 515 is provided with several bolt connection holes 514. The bolts pass through the bolt connection holes 514 and the connection hole 16 of the scorpion tail device at the stern of the hull, thereby realizing the fixed connection between the base 515 and the stern of the hull. The connection between the base and the hull is watertight.

[0038] The other end of the first extended arm 513 is provided with a first rotatable U-shaped bracket 512, which is rotatably connected to the first extended arm 513. The first rotatable U-shaped bracket 512 is provided with a first U-shaped bracket connection hole 511, and a rotating shaft is provided inside the first U-shaped bracket connection hole 511. The first extended arm 513 is connected to the third scorpion tail segment through the rotating shaft, thereby realizing the rotatable connection between the base and the third scorpion tail segment.

[0039] In this embodiment, a first servo motor is provided inside the first extendable arm 513, and the output shaft of the first servo motor is connected to the first rotatable U-shaped bracket 512 for transmission. When the first servo motor is activated, it drives the first rotatable U-shaped bracket 512 to rotate, thereby realizing the rotation of the scorpion tail-like device and increasing the flexibility of the scorpion tail-like device.

[0040] like Figure 20 As shown, the third scorpion tail segment includes a fourth extended arm 543. Second U-shaped bracket connecting seats 541 are fixed to both ends of the fourth extended arm 543. The second U-shaped bracket connecting seats 541 have third U-shaped bracket connecting holes 542, and a rotating shaft is located within the third U-shaped bracket connecting holes 542. The end of the fourth extended arm 543 facing the second scorpion tail segment achieves a rotatable connection between the second and third scorpion tail segments via the rotating shaft within the second U-shaped bracket connecting seat 541. Correspondingly, by providing a second U-shaped bracket connecting seat 541 at the other end of the fourth extended arm 543, and through the rotating shaft within the second U-shaped bracket connecting seat 541, a hinge connection is achieved between the third scorpion tail segment and the base.

[0041] like Figure 21 As shown, the second scorpion tail segment includes a third extended arm 533. Each end of the third extended arm 533 is provided with a second rotatable U-shaped bracket 532, and the second rotatable U-shaped bracket 532 is rotatably connected to the third extended arm 533. The second rotatable U-shaped bracket 532 is provided with a second U-shaped bracket connecting hole 531, and a rotating shaft is provided within the second U-shaped bracket connecting hole 531. Through the rotating shaft, the rotatable connection between the second and first scorpion tail segments, and the rotatable connection between the second and third scorpion tail segments are respectively realized.

[0042] In this embodiment, a second servo motor is provided at each of the two ends of the third extendable arm 533, and the output shaft of the second servo motor is respectively connected to the second rotatable U-shaped bracket 532 at both ends. When the second servo motor is working, it drives the second rotatable U-shaped bracket 532 connected to it to rotate.

[0043] The rotating shaft passes through the connecting holes on the second rotatable U-shaped bracket 532 and the second U-shaped bracket connecting seat 541, thereby realizing the connection between the second tail segment 53 and the third tail segment 54.

[0044] like Figure 22 As shown, the first scorpion tail segment includes a second extended arm 522. The end of the second extended arm 522 connected to the second scorpion tail segment is fixed with a first U-shaped bracket connecting seat 521. The first U-shaped bracket connecting seat 521 is provided with a bracket connecting hole. The rotating shaft passes through the second U-shaped bracket connecting hole 531 on the second scorpion tail segment and the bracket connecting hole on the first scorpion tail segment, thereby realizing the connection between the second scorpion tail segment 53 and the first scorpion tail segment 52.

[0045] The other end of the corresponding second extendable arm 522 is fixed with a sensor mounting base 523, and the sensor is installed inside the sensor mounting base. The sensor can detect the external environment and determine whether the scorpion-tail-like device is in water or air. In addition, by changing the angle at the connection between each pair of adjacent scorpion tail segments, the sensor installed on the scorpion-tail-like device can observe the water surface in different postures, providing the location information of the person who fell into the water.

[0046] In this application, by installing a servo motor at the connection point of two adjacent scorpion tail segments, the rocker arm between each pair of adjacent scorpion tail segments is moved, changing the angle between the two adjacent scorpion tail segments, thereby adjusting the length and swing angle of the scorpion tail-like device, realizing the flexible movement of the scorpion tail-like device, and at the same time realizing multi-level data acquisition of the sensors installed on the scorpion tail-like device.

[0047] The unmanned rescue boat works as follows: First, the unmanned rescue boat, designed for underwater rescue, is assembled into a single unit. It is then launched into the water, and sensors mounted on a scorpion-tail-like device determine whether the device is below or above the water surface, thus determining the boat's attitude.

[0048] If the sensors detect that the scorpion-tail device is above the water surface, the azimuth propeller of the drive unit is activated. By adjusting the attitude of the azimuth propeller, the attitude of the steering robotic arm and the hull is adjusted, thereby changing the movement of the unmanned rescue boat. Based on the information about the person in the water obtained from the sensors on the scorpion-tail device, the azimuth propeller is used to adjust the path of the unmanned rescue boat and move it to the vicinity of the person in the water. Adjusting the azimuth propeller can also give the unmanned rescue boat a downward force, allowing it to submerge and move below the person in the water. The azimuth propeller is adjusted again to lift the person in the water and bring them to the surface.

[0049] If the sensors detect that the scorpion-tail device is below the water surface, the servo motor at the connection point of the scorpion-tail device will rotate the first, second, and third scorpion-tail sections, causing the scorpion-tail device to float to the surface. Simultaneously, due to the significant weight of the steering robotic arm and the azimuth propeller, the propeller will sink into the water under its own gravity. Adjusting the attitude of the azimuth propeller will change the movement of the unmanned rescue boat. Based on the information about the person in the water obtained from the sensors on the scorpion-tail device, the azimuth propeller will be used to adjust the path of the unmanned rescue boat and move it to the vicinity of the person in the water. Adjusting the azimuth propeller can also give the unmanned rescue boat a downward force, causing it to submerge and move below the person in the water. Finally, adjusting the azimuth propeller again will allow the unmanned rescue boat to lift the person in the water to the surface.

[0050] In this application, the coordination between the scorpion-tail-like device, the azimuth propeller, and the steering robotic arm enables rescue operations regardless of which side of the hull enters the water. After the unmanned lifeboat enters the water normally, if the azimuth propeller is in the water and the scorpion-tail-like device is in the air, the lifeboat can begin operation. If the lifeboat's entry posture is as follows: the scorpion-tail-like device is in the water and the azimuth propeller is in the air, the servo motor at the joint of the scorpion-tail-like device activates, causing the device to rotate around the connection point between the base and the stern of the hull, bringing it above the waterline; simultaneously, the steering robotic arm and the azimuth propeller, under their own weight, fall into the water, and the lifeboat can begin operation.

[0051] The unmanned lifeboat provided by this utility model has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model. The above description of the disclosed embodiments enables those skilled in the art to implement or use this utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this utility model. Therefore, this utility model is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned lifeboat, comprising a hull, characterized in that, Also includes: Safety cofferdam devices are symmetrically arranged on the two outer sides of the hull. The steering robotic arm device consists of several steering robotic arms connected to the two outer sides of the hull, and the steering robotic arms on both sides of the hull are arranged symmetrically. The drive unit is connected to the hull via a steering robotic arm. The scorpion-tail-like device is connected to the stern of the ship.

2. The unmanned lifeboat according to claim 1, characterized in that, The hull includes the hull body, the front end of which is equipped with an energy watertight box, and the stern end of the hull body is equipped with a connection hole for the scorpion tail device. The outer side of the hull is provided with safety cofferdam mounting holes and safety mast connection holes for connecting to the safety cofferdam device, as well as mechanical arm connection holes for connecting to the steering mechanical arm device. Watertight baffles are installed at the connection points between the hull body and the safety bulkhead and steering mechanism.

3. The unmanned lifeboat according to claim 2, characterized in that, The safety cofferdam device includes a safety mast and a safety cofferdam, with the safety cofferdam located between two safety masts and arranged symmetrically between the safety masts and the safety cofferdam on both sides of the hull; The safety mast includes a fixedly connected horizontal section and a vertical section. The horizontal section is rotatably installed in the safety mast mounting hole, and the top of the vertical section is located above the hull. The safety enclosure is fixed to the mounting beam, and the two ends of the mounting beam are rotatably connected to the connecting columns. The connecting columns are rotatably installed in the mounting holes of the safety enclosure, and the top of the safety enclosure is located above the hull.

4. The unmanned lifeboat according to claim 1, characterized in that, The steering manipulator device includes a telescopic manipulator, the two ends of which are connected to the hull and the drive device respectively via universal joint couplings and connecting supports. The telescopic robotic arm includes a fixed robotic arm and a telescopic robotic arm. One end of the fixed robotic arm is slidably connected to the telescopic robotic arm, and the other end of the fixed robotic arm is fixed with a second U-shaped bracket. One end of the telescopic robotic arm is slidably connected to the fixed robotic arm, and the other end of the telescopic robotic arm is fixed with a second U-shaped bracket. The second U-shaped bracket has two symmetrical second coupling connection holes.

5. The unmanned lifeboat according to claim 4, characterized in that, The connecting support includes a first U-shaped bracket, the free end of which is provided with two symmetrical first coupling connection holes, and the other end of the first U-shaped bracket is fixed with a flange. The flange facing the drive unit has a support positioning shaft hole at its center, which is connected to the drive unit; the flange facing the hull has a rotating hole at its center, and a rotating shaft is installed in the rotating hole, which is fixedly connected to the hull.

6. The unmanned lifeboat according to claim 5, characterized in that, The universal joint coupling includes a cross bushing and a cross shaft disposed on the cross bushing. The cross shaft includes four shafts. Two of the shafts are symmetrically arranged and connect to the first coupling connection hole of the first U-shaped bracket to realize the connection between the universal joint coupling and the connecting support. The other two shafts are symmetrically arranged and connect to the second coupling connection hole of the second U-shaped bracket to realize the connection between the universal joint coupling and the telescopic robotic arm.

7. The unmanned lifeboat according to claim 5, characterized in that, The drive unit includes: Propeller blades, which are fixed to the propeller hub; The propeller support has several propeller brackets spaced apart on its inner surface. The propeller hub is located at the center of the propeller support, and the propeller hub and the propeller brackets are rotatably connected. The connecting column has one end fixed to the propeller support and the other end rotatably set in the center hole of the flange support.

8. The unmanned lifeboat according to claim 2, characterized in that, The scorpion-tail device includes a base and several scorpion tail sections. One end of the base is fixedly installed in the connection hole of the scorpion-tail device at the stern of the hull, and the other end of the base is hinged to the several scorpion tail sections. The tail of the scorpion tail sections is equipped with sensors. The scorpion's tail segments are connected by a hinge.

9. The unmanned lifeboat according to claim 8, characterized in that, The base includes an extension arm; One end of the extended arm is fixed to a base, and the base is fixedly connected to the scorpion-tail device connection hole on the hull. The other end of the extended arm is provided with a first rotatable U-shaped bracket, and a first servo motor is provided inside the extended arm. The first servo motor is connected to the first rotatable U-shaped bracket in a transmission connection, and the extended arm is connected to the scorpion tail segment through the first rotatable U-shaped bracket.

10. The unmanned lifeboat according to claim 8, characterized in that, According to the direction from far to near along the base, the scorpion's tail segment includes the first scorpion's tail segment, the second scorpion's tail segment, and the third scorpion's tail segment; The third scorpion tail segment includes a fourth extended arm, and the two ends of the fourth extended arm are respectively fixed with a second U-shaped bracket connecting seat. The second U-shaped bracket connecting seat realizes the hinge connection between the third scorpion tail segment and the base, as well as between the third scorpion tail segment and the second scorpion tail segment. The second tail segment includes a third extended arm, and the two ends of the third extended arm are respectively provided with a second rotatable U-shaped bracket. The second rotatable U-shaped bracket facing the third tail segment is rotatably connected to the second U-shaped bracket connecting seat of the third tail segment. The two ends of the third extended arm are respectively provided with a second servo motor, and the second servo motor is connected to the second rotatable U-shaped bracket in a transmission connection. The first scorpion tail segment includes a second extended arm. The end of the second extended arm facing the second scorpion tail segment is provided with a first U-shaped bracket connecting seat. The first U-shaped bracket connecting seat is rotatably connected to the second rotatable U-shaped bracket of the second scorpion tail segment. The other end of the corresponding second extended arm is fixed with a sensor mounting seat, and the sensor is mounted on the sensor mounting seat.

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