CN111907648A - Variable-configuration modular water surface unmanned platform - Google Patents

Abstract

The invention discloses a variable-configuration modular unmanned surface platform, comprising an upper platform, two floating bodies arranged on both sides of the upper platform, and a folding mechanism or a telescopic mechanism connected between the upper platform and the floating body; The end of the floating body is provided with a fuel tank power module, and the side of the floating body is evenly distributed with a plurality of expansion interfaces, which are detachably connected to another floating body through the expansion interfaces. The platform of the invention can adjust the lateral spacing, longitudinal offset distance and the height of the middle platform of the hull of the aircraft through the configuration-changing design, effectively change its motion performance, and make the surface unmanned platform adapt to various sea conditions. Through modular design and universal design, the surface unmanned platform can be configured according to the mission requirements in a short time.

Description

A Modular Surface Unmanned Platform with Variable Configuration

technical field

The invention relates to the field of marine robots, in particular to a deformable, modular, multi-load surface unmanned platform, which can meet the requirements of complex sea conditions, multi-tasking, long voyage time and the like through intelligent module combination.

Background technique

The intelligent platform for unmanned navigation on the surface can be widely used in marine transportation, marine environmental investigation, marine resource exploration, marine archaeology, water search and rescue, intelligence collection and other tasks. The existing surface unmanned navigation platforms mainly include the following technologies: ①Hull technology: the current active surface unmanned boats are mostly rigid inflatable boats, such as Spartan scouts, protectors and other surface unmanned boats Boats are of this type. Although rigid inflatable boats have their unique advantages in speed and range, they are not the optimal choice in other performances, such as seakeeping, stability, and towing capacity. In recent years, various types of surface unmanned boats have appeared, such as wave piercing boats, sailboats, hydrofoils, catamarans, trimarans and other surface unmanned boats with novel structures and various types of boats. ②Modular technology: At present, most surface unmanned boats use modular technology, which can reconfigure the surface unmanned boats according to the task requirements in a short time, but basically it is at the conceptual level. In the future, modular standards, as well as common platforms, components, and interfaces will be further standardized to shorten the configuration time. The "Roadmap for Unmanned Systems 2017-2042" further plans for the development of modular technology, and proposes the modularity and interchangeability of software, firmware and hardware components.

To sum up, the existing hulls cannot meet the requirements of high speed and complex sea conditions and general modularization at the same time.

SUMMARY OF THE INVENTION

The purpose of the present invention is to develop an unmanned aerial vehicle platform, which can adjust the lateral spacing, longitudinal offset distance and the height of the middle platform of the hull of the aircraft through the design of the deformation configuration, and effectively change its movement performance, so that the water surface has no The human platform adapts to various sea conditions. Through modular design and universal design, the surface unmanned platform can be configured according to the task requirements in a short time. The buoyancy of the floating body is increased in parallel to improve the carrying capacity of the surface platform, and the platform is connected in parallel for power distribution.

The variable-configuration modular unmanned surface platform of the present invention includes an upper platform, two floating bodies arranged on both sides of the upper platform, and a folding mechanism or a telescopic mechanism connected between the upper platform and the floating body; the floating body The end of the floating body is provided with a fuel tank power module, and the side of the floating body is evenly distributed with a plurality of expansion interfaces, which are detachably connected to another floating body through the expansion interfaces.

Further, the telescopic mechanism includes a lateral telescopic cylinder and a vertical telescopic cylinder; the lateral telescopic cylinder includes a lateral cylinder fixed on the upper platform and a lateral telescopic rod matched with the lateral cylinder; the vertical telescopic cylinder includes The vertical cylinder body fixed on the outer end of the horizontal telescopic rod and the vertical telescopic rod matched with the vertical cylinder block; the lower end of the vertical telescopic rod is fixedly connected with the floating body through the connecting arm.

Further, the folding mechanism includes a frame, a large arm, a small arm and a connecting rod that are sequentially connected to form a four-bar linkage mechanism, and a driving device and a small connecting rod for driving the action of the four-bar linkage mechanism; the frame It is fixed on the upper platform, and the outer end of the small arm is fixedly connected to the floating body through the connecting arm; the driving device is a motor, a hydraulic cylinder or an electric cylinder, which is fixed in the frame, and its push rod is connected to the floating body through a small connecting rod. Describe the arm.

Further, the fuel tank power module includes one or more fuel tank bodies and a power module for propelling the aircraft to sail, which are connected to each other through a common interface.

Further, the expansion interface on the side of the floating body is connected to several floating bodies through connectors.

Further, parallel connection is realized between several of the surface unmanned aerial vehicle platforms through the expansion interface on the side of the floating body.

Beneficial effects of the present invention:

1. The present invention adopts a deformable hull structure, which can realize the function of adapting to various sea conditions at high speed, and effectively enhance the stability of the overall platform.

2. The present invention adopts the variable configuration modular design, which can save transportation space and facilitate loading and transportation.

3. Through the modular design of the floating body, the present invention can improve the rate of platform configuration for performing different tasks. Through the parallel design of floating bodies, the load of the platform can be increased, and the remote secondary delivery can be carried out.

4. The upper platform of the present invention can carry various different functional devices through the universal design of the interface.

Description of drawings

The present invention will be further described below with reference to the accompanying drawings and embodiments.

1 is a schematic structural diagram of a foldable deformable surface unmanned vehicle platform;

2 is a schematic structural diagram of a telescopic deformable surface unmanned vehicle platform;

3 is a schematic structural diagram of the folding mechanism of the present invention;

4 is a schematic structural diagram of the telescopic mechanism of the present invention;

5 is a schematic structural diagram of a modular floating body of the present invention;

6 is a schematic structural diagram of the parallel connection of two floating bodies of the present invention;

7 is a schematic structural diagram of the present invention using a plurality of floating bodies in parallel;

FIG. 8 is a schematic structural diagram of two unmanned aerial vehicle platforms in parallel as a whole.

Detailed ways

Example 1

FIG. 1 is a schematic structural diagram of the foldable and deformable water surface unmanned vehicle of the present embodiment. The vehicle platform includes an upper platform 5, two floating bodies 2 arranged on both sides of the upper platform 5, and two floating bodies 2 connected to the upper platform 5. Four folding mechanisms 4 between the above-mentioned platform 5 and the floating body 2; the end of the floating body 2 is provided with a fuel tank power module 1, and the side of the floating body 2 is evenly distributed with a plurality of expansion interfaces, and through the expansion interfaces A floating body 2 is detachably connected.

As shown in FIG. 3 , the folding mechanism 4 includes a frame 8 , a large arm 12 , a small arm 6 and a connecting rod 7 which are sequentially connected to form a four-bar linkage mechanism, and a driving device for driving the action of the four-bar linkage mechanism 9 and small connecting rod 11; the frame 8 is fixed on the upper platform 5, the outer end of the small arm 6 is fixedly connected with the floating body through the connecting arm 3; the driving device 9 is an electric push cylinder, a hydraulic cylinder or an electric cylinder, It is fixedly arranged in the frame 8, and its push rod is connected to the big arm 12 through the small connecting rod 11; in this embodiment, the frame 8, the big arm 12 and the small arm 6 are all truss structures to improve the structure. Strength; when the push rod of the drive device 9 is extended, the small connecting rod 11 pushes the four-bar linkage mechanism to deform, so that the floating bodies 2 on both sides of the platform are unfolded; when the push rod of the driving device 9 retracts, the small connecting rod 11 Pull the four-bar linkage to deform, so that the floating bodies 2 on both sides of the platform are retracted.

As shown in FIG. 5 , the fuel tank power module 1 includes one or more fuel tank bodies (auxiliary fuel tank 17 and main fuel tank 18 ) and a power module 19 for propelling the aircraft to sail; the number of fuel tank bodies can be According to the required amount of fuel, the fuel tank is connected by a common interface, and the configuration of different voyages is carried out by connecting the hardware circuit circuit in series; the power module 19 can adopt the existing propeller structure.

As shown in Figures 6 and 7, the expansion interface on the side of the floating body 2 is connected to the two floating bodies 2 through connectors (20, 21), and the two floating bodies 2 are connected in parallel, which can improve the stability of the platform; of course, it can be determined according to the platform load and sea conditions To comprehensively judge the increased number of floating bodies 2, the floating bodies 2 are connected in parallel through expansion interfaces and connecting pieces (20, 21).

As shown in FIG. 8 , in this embodiment, parallel connection can be realized between the two surface unmanned aerial vehicle platforms through the expansion interface on the side of the floating body 2 . By connecting the two platforms in parallel, the power distribution can be carried out according to the task, such as two towing one, and the second release can be carried out to maximize the voyage.

In the present invention, the floating body 2 is modularly designed, and the interfaces of the oil storage tank, the power module and the attachment module are designed in a generalized manner, and different configurations can be performed according to different tasks. The modular design of the oil storage tank can be configured differently according to different voyages, and the universal design of the floating body 2 interface module can configure different floating bodies 2 according to different sea conditions, so as to realize the left and right parallel connection to improve the stability and bearing capacity of the platform. Power distribution is carried out through the overall parallel connection of the platform, and secondary remote delivery is carried out.

Embodiment 2

2 is a schematic structural diagram of the telescopic and deformable surface unmanned aerial vehicle platform of this embodiment. In this embodiment, the folding mechanism in the aircraft platform of the first embodiment is replaced by a telescopic mechanism 4; the telescopic mechanism 4 includes The horizontal telescopic cylinder and the vertical telescopic cylinder are arranged vertically to each other; the horizontal telescopic cylinder includes a horizontal cylinder block 16 fixed on the upper platform 5 and a horizontal telescopic rod 15 matched with the horizontal cylinder block 16; the vertical telescopic cylinder It includes a vertical cylinder 14 fixed on the outer end of the horizontal telescopic rod 15 and a vertical telescopic rod 13 matched with the vertical cylinder 14; the lower end of the vertical telescopic rod 13 is fixed with the floating body 2 through the connecting arm 3 Connection; the horizontal telescopic cylinder can adjust the distance between the two floating bodies 2 , while the vertical telescopic cylinder can adjust the height of the floating body 2 relative to the upper platform 5 .

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (6)

1. The utility model provides a configuration-variable modular unmanned on water platform which characterized in that: comprises an upper platform, two floating bodies respectively arranged at two sides of the upper platform and a folding mechanism or a telescopic mechanism connected between the upper platform and the floating bodies; the end of the floating body is provided with an oil tank power module, and the side part of the floating body is uniformly provided with a plurality of expansion interfaces and detachably connected with another floating body through the expansion interfaces.

2. The reconfigurable modular surface unmanned platform of claim 1, wherein: the telescopic mechanism comprises a transverse telescopic cylinder and a vertical telescopic cylinder which are vertically arranged; the transverse telescopic cylinder comprises a transverse cylinder body fixed on the upper platform and a transverse telescopic rod matched with the transverse cylinder body; the vertical telescopic cylinder comprises a vertical cylinder body fixed at the outer end of the transverse telescopic rod and a vertical telescopic rod matched with the vertical cylinder body; the lower end of the vertical telescopic rod is fixedly connected with the floating body through a connecting arm.

3. The reconfigurable modular surface unmanned platform of claim 2, wherein: the folding mechanism comprises a rack, a large arm, a small arm, a connecting rod, a driving device and a small connecting rod, wherein the rack, the large arm, the small arm and the connecting rod are sequentially connected to form a four-bar mechanism; the frame is fixed on the upper platform, and the outer end of the small arm is fixedly connected with the floating body through a connecting arm; the driving device is an electric pushing cylinder, a hydraulic cylinder or an electric cylinder, the driving device is fixedly arranged in the rack, and a push rod of the driving device is connected to the large arm through a small connecting rod.

4. The reconfigurable modular surface unmanned platform of claim 3, wherein: the fuel tank power module comprises one or more fuel tank bodies and a power module, wherein the one or more fuel tank bodies and the power module are connected with each other through a universal interface, and the power module is used for propelling an aircraft to sail.

5. The reconfigurable modular surface unmanned platform of claim 4, wherein: the expansion interfaces at the side parts of the floating bodies are connected with the plurality of floating bodies through connecting pieces.

6. The reconfigurable modular surface unmanned platform of claim 5, wherein: and the plurality of the unmanned surface vehicle platforms are connected in parallel through expansion interfaces at the side parts of the floating bodies.

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