CN112277550A

CN112277550A - Amphibious ship

Info

Publication number: CN112277550A
Application number: CN202011343671.XA
Authority: CN
Inventors: 尹建军; 吴兆闯; 王顺祚
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-01-29

Abstract

The invention relates to an amphibious ship, which comprises a ship body, a propeller, a track group mechanism, an air bag overturning and launching mechanism, a profiling wheel mechanism and a synchronous leg type mechanism, wherein the climbing performance of the amphibious ship can be greatly improved in a four-track independent driving mode, and the profiling wheel can assist four tracks in improving the obstacle crossing capability of the amphibious ship. The synchronous leg type mechanism can be retracted on the ship body to be conveniently transported, the synchronous leg type mechanism can assist the landing work after being unfolded, the air bag overturning and launching mechanism can assist the amphibious ship to back up and launch the river through air bag large-angle overturning, and the amphibious ship can smoothly and stably complete the processes of launching the river and landing the river through the coordination and cooperation of the four-crawler mechanism, the copying wheel mechanism, the synchronous leg type mechanism and the air bag overturning and launching mechanism. The invention has compact and reasonable structure and convenient operation, can realize land transportation and waterway navigation, and can effectively improve the operation efficiency of water and land transition.

Description

Amphibious ship

Technical Field

The invention belongs to the technical field of ships, and particularly relates to an amphibious ship.

Background

Traditional boats and ships operation environment restricts in aqueous, does not possess amphibious function, and can't not possess the function of going into the river on the bank by oneself at land walking, will utilize transfer equipment such as truck, crane to realize the transportation on land and aqueous, has the operation of transition and wastes time and energy, problem such as cost of labor.

The existing amphibious equipment is mostly military products, such as amphibious tanks and amphibious transport vehicles, all adopt crawler traveling mechanisms, have strong maneuverability and good trafficability, and have the capability of automatically descending into the river and landing on the bank. However, the amphibious equipment has high requirements on the bank slope and is narrow in application occasions. The floating bridge used by the naval bridge army and the inflatable buoyancy tank used by the amphibious landing tank above the caterpillar band are both provided with additional floating bodies to obtain additional buoyancy to support the main body to float, so that the purpose of self-running in the river and water is achieved. Therefore, the existing amphibious ship has the following problems: the buoyancy of the underwater hull of the amphibious ship is insufficient in the process of automatically descending into the river, so that the amphibious ship sinks and the inclination angle of the underwater ship is too large; the operation on land and shoal is complex; the distance between the front crawler belt and the rear crawler belt is large, and the driving performance is not high; in the process of going ashore or going into a river on a self-climbing amphibious ship, the soft soil is arranged on the bank side, so that the ship body adhesion coefficient is low, the crawler belt is easy to slip, and the problem that the amphibious ship cannot smoothly go ashore or go into the river is difficult to control is caused.

Disclosure of Invention

Aiming at the technical problem, the invention relates to an amphibious ship, which comprises a four-crawler independent driving walking mechanism and a copying wheel mechanism, wherein the climbing performance of the amphibious ship can be greatly improved in a four-crawler independent driving mode, and the copying wheel can assist the four crawler to improve the obstacle crossing capability of the amphibious ship. The synchronous leg type mechanism can be retracted on the ship body to be conveniently transported, the synchronous leg type mechanism can assist the landing work after being unfolded, the air bag overturning and launching mechanism can assist the amphibious ship to back up and launch the river through air bag large-angle overturning, and the amphibious ship can smoothly and stably complete the processes of launching the river and landing the river through the coordination and cooperation of the four-crawler mechanism, the copying wheel mechanism, the synchronous leg type mechanism and the air bag overturning and launching mechanism. The invention has compact and reasonable structure and convenient operation, can realize land transportation and waterway navigation, and can effectively improve the operation efficiency of water and land transition.

The technical scheme of the invention is as follows: an amphibious ship comprises a ship body, a propeller, a track group mechanism, an air bag overturning and river descending mechanism, a profiling wheel mechanism and a synchronous leg type mechanism;

the propeller is arranged at the bottom of the ship body; the number of the crawler belt group mechanisms is four, and the four crawler belt group mechanisms are respectively arranged on two sides of the ship body, and two crawler belt group mechanisms are arranged on each side; the contour wheel mechanisms are arranged on two sides of the ship body and are positioned in the middle of the front crawler belt group mechanism and the rear crawler belt group mechanism; the air bag overturning and launching mechanism is arranged on a deck at the tail part of the ship body; the synchronous leg type mechanism is arranged on a deck at the rear side of the cab.

In the scheme, the air bag overturning and launching mechanism comprises a base support, an oil cylinder base, an air bag overturning frame, a connecting rod, a working rocker, a piston rod square connecting piece, an overturning driving oil cylinder, a rocker, an air bag and a four-rod rack;

the left side and the right side of the air bag are respectively provided with an oil cylinder base, a connecting rod, a working rocker, a four-rod rack, a turnover driving oil cylinder, a piston rod square connecting piece and a rocker; the air bag overturning mechanism is characterized in that the base support is connected with the ship body, the overturning driving oil cylinder is hinged with an oil cylinder base through a pin shaft, the oil cylinder base is installed on the base support, the rocker, the four-rod rack, the working rocker and the connecting rod are hinged through the pin shaft to form a plane double-rocker mechanism, a square connecting piece of a piston rod is connected with a piston rod of the overturning driving oil cylinder, the air bag overturning frame is connected with the working rocker, and the air bag is connected with the air.

In the scheme, the synchronous leg type mechanism comprises a rotating arm, a fixed lug ring, a rotating arm driving oil cylinder, a lug ring seat, a direct-acting telescopic arm, a direct-acting arm driving oil cylinder, a support frame, a double-rod-out oil cylinder, an extension shaft and a dovetail groove guide rail;

the left side and the right side of the double-rod oil cylinder are respectively provided with a rotating arm, a direct-acting telescopic arm, a rotating arm driving oil cylinder, a direct-acting arm driving oil cylinder, a fixed lug ring, a lug ring seat, a dovetail groove guide rail and an extending shaft, two ends of the extending shaft are respectively connected with the double-rod oil cylinder and the lug ring seat, the dovetail groove guide rail is connected with a bottom support frame, the support frame is installed on a ship chassis, the double-rod oil cylinder is connected with the support frame, and the fixed lug ring and the lug ring seat are fixedly connected through two pin shafts; the rotating arm is connected with the fixed lug ring through a pin shaft, the direct-acting telescopic arm takes the inner side of the rectangular tube of the rotating arm as a slideway, the bottom of the cylinder barrel of the direct-acting arm driving oil cylinder is hinged with the rotating arm, the end of a piston rod of the direct-acting arm driving oil cylinder is hinged with the direct-acting telescopic arm, the bottom of the cylinder barrel of the rotary driving oil cylinder is hinged with the fixed lug ring, and the end of the piston rod of.

In the above scheme, the track group mechanism comprises a track, a tow band wheel, a tensioning mechanism, a guide wheel, a driving motor, a track frame and a bearing wheel;

the crawler frame is connected with the ship body, the driving wheel and the guide wheel are respectively hinged to the left side and the right side of the crawler frame through wheel shafts, and the driving wheel is connected with the driving motor; the tow band wheel and the bearing wheel are respectively arranged on the upper side and the lower side of the crawler frame, the guide wheel is connected with the tensioning mechanism, and the tensioning mechanism is arranged on the crawler frame; the caterpillar track is in contact with the towing wheel, the tensioning mechanism, the guide wheel, the driving wheel and the bearing wheel.

Furthermore, the output shafts of the driving motors are provided with rotating speed sensors, the rotating speed sensors are connected with a controller of a cab, the rotating speed sensors measure the rotating speed of the driving motors and transmit the rotating speed to the controller, and the controller controls the rotating speed of the driving motors.

In the scheme, the profiling wheel comprises a wheel frame, a solid rubber wheel, a shock absorber, a rotating main shaft, a bearing seat and a swinging wheel frame;

the wheel frame is connected with the ship body, one end of the rotating main shaft is connected with the wheel frame, the other end of the rotating main shaft is connected with the bearing seat, the swinging wheel frame is fixed with the bearing seat through bolts, solid rubber wheels are respectively arranged on two sides of the swinging wheel frame, and wheel shafts of the solid rubber wheels are hinged with the swinging wheel frame through bearings; the two sides of the bearing block are respectively provided with a shock absorber, the upper end of the shock absorber is hinged with the wheel frame through a pin shaft, and the lower end of the shock absorber is hinged with the swinging wheel frame through a pin shaft.

In the scheme, the propeller is a 360-degree full-rotation propeller.

In the above scheme, the shock absorber is a spring shock absorber.

The invention provides extra buoyancy by using an air bag to solve the problems of insufficient buoyancy of the underwater hull, sinking and overlarge inclination angle of the underwater hull of the amphibious ship in the process of automatically descending into the river. In order to make the hull mechanism compact and save the deck space, the invention provides an air bag overturning and launching mechanism. In the process of launching or landing the amphibious ship, the air bags are unfolded to the outer side of the ship body, so that the phenomenon that the posture angle of the ship body is changed too much due to the fact that the ship tail is too much submerged in water is avoided. Under other working conditions, the air bag is retracted and turned to the deck of the ship body to recover the initial form without influencing the normal navigation of the amphibious ship.

In order to realize that the amphibious ship can work on land and shoal, the complex working environment is considered, the four-crawler traveling mechanism is adopted, the hydraulic system provides power, the differential steering principle is adopted, and the damage to soil is reduced by the equipped rubber crawler; the amphibious ship can walk on land with high trafficability. The specific technical scheme of amphibious ship land driving is that the synchronous performance of the crawler belt is realized through four synchronous valves. The tracks on the same side are respectively provided with two synchronous valves to complete the forward and reverse rotation synchronization of the front and rear tracks on the same side, the tracks on the left and right sides change the flow by determining the speed of the tracks on one side and comparing the speed with the difference value of the rotating speed sensor on the right side, and then the tracks on the two sides run synchronously.

The distance between the front crawler belt and the rear crawler belt is large, in order to protect the chassis and enable the amphibious ship to have high running performance, the profiling wheels are arranged in the middle of the ship body and can swing up and down along with the fluctuation of the terrain, the wheels are constantly guaranteed to be in contact with the ground, and the chassis of the grass collecting ship is prevented from being scraped with the concave-convex ground to cause the damage of the chassis.

The invention provides a synchronous leg type mechanism which is used for completing automatic landing and descending of an amphibious ship by matching with rotation of a crawler and air bag overturning to generate buoyancy in the motion process of using snow protection skiing, and can reduce the problems of transfer time, manpower, fund and the like, and effectively improve the operation efficiency of the amphibious ship in a transition process.

The synchronous leg type mechanism is rigidly connected with a hull chassis, the action of the synchronous leg type mechanism is controlled by a hydraulic system, and all joints are provided with 5 hydraulic oil cylinders. In the process of going ashore, the synchronous leg type mechanism is turned to the outer side of the ship, and the ship body is driven to climb the ashore repeatedly like the ground supporting action of a ski stick; after the amphibious ship successfully lands on the shore, the mechanism turns to the inner side of the ship and restores the initial form, and the normal running function of the amphibious ship is not influenced.

The air bag not only can assist in going into the river, but also plays a role of counterweight when the amphibious ship runs on water, and the water penetration depth of the air bag, namely the generated buoyancy, can be adjusted according to the deviation of the center of gravity in the working process of the ship body.

Compared with the prior art, the invention has the beneficial effects that: the amphibious ship climbing device comprises a four-crawler independent driving walking mechanism and a copying wheel mechanism, wherein the climbing performance of the amphibious ship can be greatly improved in a four-crawler independent driving mode, and the copying wheel can assist the four crawler to improve the obstacle crossing capability of the amphibious ship. The synchronous leg type mechanism can be retracted on the ship body to be conveniently transported, the synchronous leg type mechanism can assist the landing work after being unfolded, the overturning air bag launching mechanism can assist the amphibious ship to back up and launch the river through air bag large-angle overturning, and the amphibious ship can smoothly and stably complete the processes of launching the river and landing the river through the coordination and cooperation of the four-crawler mechanism, the copying wheel mechanism, the synchronous leg type mechanism and the air bag overturning launching mechanism. The invention has compact and reasonable structure and convenient operation, can realize land transportation and waterway navigation, and can effectively improve the operation efficiency of water and land transition.

Drawings

FIG. 1 is a schematic view of an amphibious ship assembly according to an embodiment of the present invention

Fig. 2 is a structural view of the chassis installation of an amphibious ship according to an embodiment of the invention;

fig. 3 is a top view of the amphibious vessel chassis according to an embodiment of the invention;

FIG. 4 is a front view of the track mechanism according to one embodiment of the present invention;

FIG. 5 is a view showing the structure of the crawler frame according to the embodiment of the present invention

FIG. 6 is a schematic view of the profiling wheel mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic view of the synchronous leg mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic view of an air bag overturning launching mechanism according to an embodiment of the present invention;

FIG. 9 is a schematic view of the deployment of the airbag inverted launching mechanism according to an embodiment of the present invention;

FIG. 10 is a view of the initial position of the synchronizing leg mechanism according to one embodiment of the present invention;

FIG. 11 is an expanded view of the synchronized leg mechanism according to one embodiment of the present invention;

FIG. 12 is a diagram of the process of landing or going into the river of the synchronous leg mechanism of the present invention;

fig. 13 is a diagram of the process of the amphibious ship going ashore or into the river by self.

In the figure: 1-360-degree full-rotation propeller, 2-air bag turning river-descending mechanism, 3-track group mechanism, 4-profiling wheel mechanism, 5-ship body, 6-synchronous leg mechanism, 7-cab, 8-track, 9-tow band wheel, 10-tensioning mechanism, 11-guide wheel, 12-driving wheel, 13-driving motor, 14-track frame, 15-bearing wheel, 16-wheel frame, 17-solid rubber wheel, 18-spring shock absorber, 19-rotating main shaft, 20-bearing seat, 21-swinging wheel frame, 22-direct-acting arm driving oil cylinder, 23-rotating arm, 24-fixed ear ring, 25-rotating arm driving oil cylinder, 26-ear ring seat, 27-direct-acting telescopic arm, 28-supporting frame, 29-double-rod-out oil cylinder, 30-extension shaft, 31-dovetail groove guide rail, 32-air bag, 33-air bag roll-over stand, 34-connecting rod, 35-working rocker, 36-piston rod square connecting piece, 37-roll-over driving oil cylinder, 38-oil cylinder base, 39-bracket, 40-rocker and 41-four-rod rack.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1, 2 and 3 show a preferred embodiment of the amphibious vessel, which comprises a hull 5, a propeller, a crawler unit mechanism 3, an air bag overturning and launching mechanism 2, a profiling wheel mechanism 4, a synchronous leg mechanism 6 and a controller; the propeller is arranged at the bottom of the ship body 5; the propeller is a 360-degree full-rotation propeller 1; the number of the crawler belt group mechanisms 3 is four, and the four crawler belt group mechanisms 3 are respectively arranged on two sides of the ship body, two on each side, and are distributed in a mirror image manner from front to back; the copying wheel mechanisms 4 are arranged on two sides of the ship body 5 and are positioned in the middle of the front and rear crawler belt group mechanisms 3; the air bag overturning and launching mechanism 2 is arranged on a deck at the tail part of the ship body 5 and is fixedly connected with the chassis through rectangular steel; the synchronous leg type mechanism 6 is arranged on a deck at the rear side of the cab 7 and is fixedly connected with the chassis through a bracket. The controller is respectively connected with the propeller, the crawler unit mechanism 3, the air bag overturning and river descending mechanism 2 and the synchronous leg type mechanism 6.

As shown in fig. 8 and 9, the air bag overturning and launching mechanism 2 comprises a base bracket 39, an oil cylinder base 38, an air bag overturning bracket 33, a connecting rod 34, a working rocker 35, a piston rod square connecting piece 36, an overturning and driving oil cylinder 37, a rocker 40, an air bag 32 and a four-rod rack 41; the left side and the right side of the air bag 32 are respectively provided with an oil cylinder base 38, a connecting rod 34, a working rocker 35, a four-rod rack 41, a turnover driving oil cylinder 37, a piston rod square connecting piece 36 and a rocker 40; the base support 39 is fixedly connected with the chassis of the ship body 5 in a welded mode, the overturning driving oil cylinder 37 is hinged with the oil cylinder base 38 through a pin shaft, the oil cylinder base 38 is installed on the base support 39, the rocker 40, the four-rod rack 41, the working rocker 35 and the connecting rod 34 are hinged through the pin shaft to form a plane double-rocker mechanism, the connection position is hinged through the pin shaft, the piston rod square connecting piece 36 is in threaded connection with the piston rod of the overturning driving oil cylinder 37, the air bag overturning frame 33 is fixedly connected with the working rocker 35 in a welded mode, and the air bag 32 is connected with the air.

As shown in fig. 7, the synchronous leg mechanism 6 includes a rotating arm 23, a fixed earring 24, a rotating arm driving cylinder 25, an earring seat 26, a linear motion telescopic arm 27, a supporting frame 28, a double-rod cylinder 29, an extension shaft 30 and a dovetail groove guide rail 31; the left side and the right side of the double-rod oil cylinder 29 are respectively provided with a rotating arm 23, a direct-acting telescopic arm 27, a rotating arm driving oil cylinder 25, a direct-acting arm driving oil cylinder 22, a fixed lug 24, a lug seat 26, a dovetail groove guide rail 31 and an extension shaft 30, the left side and the right side are of mirror symmetry structures, two ends of the extension shaft 30 are respectively in threaded connection with the double-rod oil cylinder 29 and the lug seat 26, the dovetail groove guide rail 31 is fixedly connected with a bottom support frame 28 through bolts, the support frame 28 is installed on a chassis of the ship body 5 through welding, the double-rod oil cylinder 29 and the support frame 28 are fixedly connected through U-shaped fixed plates at two ends of an intermediate pin shaft, and the fixed lug 24 and the; the rotating arm 23 is connected with the fixed lug ring 24 through a pin shaft, the direct-acting telescopic arm 27 takes the inner side of a rectangular pipe of the rotating arm 23 as a slideway, the bottom of a cylinder barrel of the direct-acting arm driving oil cylinder 22 is hinged with the rotating arm 23, the piston rod end of the direct-acting arm driving oil cylinder is hinged with the direct-acting telescopic arm 27, the bottom of a cylinder barrel of the rotary driving oil cylinder 25 is hinged with the fixed lug ring 24, and the piston rod end of the rotary driving oil cylinder.

As shown in fig. 4 and 5, the track set mechanism 3 includes a track 8, a tow band wheel 9, a tensioning mechanism 10, a guide wheel 11, a driving wheel 12, a driving motor 13, a track frame 14 and a bearing wheel 15; the crawler frame 14 is rigidly connected with a chassis girder of the ship body 5, the driving wheel 12 and the guide wheel 11 are respectively hinged on the left side and the right side of the crawler frame 14 through wheel shafts, and the driving wheel 12 is connected with the driving motor 13; the tow band wheel 9 and the bearing wheel 15 are respectively hinged with the upper side and the lower side of the crawler frame 14 through a wheel shaft and a bearing, the guide wheel 11 is connected with the tensioning mechanism 10, and the tensioning mechanism 10 is arranged on the crawler frame 14; the track 8 is in contact with a tow pulley 9, a tensioning mechanism 10, a guide wheel 11, a drive wheel 12 and a load bearing wheel 15. And the output shafts of the driving motors 13 are provided with rotating speed sensors which are connected with a controller of the cab 7, the rotating speed sensors measure the rotating speed of the driving motors 13 and transmit the rotating speed to the controller, and the controller controls the rotating speed of the driving motors 13.

As shown in fig. 6, the copying wheel 4 comprises a wheel frame 16, a solid rubber wheel 17, a spring damper 18, a rotating main shaft 19, a bearing seat 20 and a swinging wheel frame 21; the wheel frame 16 is rigidly connected with a chassis girder of the hull 5, one end of a rotating main shaft 19 is welded with the wheel frame 16, the other end of the rotating main shaft is connected with a bearing seat 20, a swinging wheel frame 21 is fixed with the bearing seat 20 through bolts, two sides of the swinging wheel frame 21 are respectively provided with a solid rubber wheel 17, and the solid rubber wheels 17 are hinged with the swinging wheel frame 21 through a bearing through a wheel shaft; spring dampers 18 are respectively arranged on two sides of the bearing block 20, the upper ends of the spring dampers 18 are hinged with the wheel frame 16 through pin shafts, and the lower ends of the spring dampers 18 are hinged with the swinging wheel frame 21 through pin shafts.

The amphibious ship adopts a hydrostatic driving mode to realize landing and river descending. The four crawler belts are driven by independent motors, and four synchronous valves are used for controlling the same-side crawler belt by two synchronous valves respectively, so that the forward and reverse rotating speeds of the crawler belts on the two sides are the same, the same-side forward and reverse crawler belts can be approximately regarded as one crawler belt, the left and right crawler belts determine the speed of the crawler belt on one side through the controller, and the flow is changed by comparing the difference value of the rotating speed sensor on the right side, so that the synchronism of the running speeds of the four crawler. The power transmission process is as follows: the system comprises an engine, a transmission case, a hydraulic pump, a multi-way valve, a synchronous valve and a hydraulic motor, wherein a rotating speed sensor is arranged on an output shaft of each crawler driving motor 13, the output shaft is connected with the driving motors 13 through splines, and the running speed of a single crawler can be well obtained through the rotating speed sensors. The spring damper 18 is at the initial position which is half of the compression stroke, and is at the equilibrium position due to bilateral symmetry, and the swing amplitude is + -5 deg. When the running road surface is uneven, the spring shock absorbers 18 on one side are continuously compressed, the spring shock absorbers 18 on the other side are in a natural extension state, the profile modeling wheels can rotate around the rotating main shaft 19 according to the undulation of the road surface, the obstacle crossing capability of the amphibious ship is improved to the maximum extent, and the amphibious ship can well pass through the uneven road surface.

When the amphibious ship starts to descend, the power transmission process is as follows: the system comprises an engine, a transmission case, a hydraulic pump, a multi-way valve, a turnover driving oil cylinder and a rotating arm driving oil cylinder. The method mainly comprises the following steps: the first step is as follows: in combination with fig. 9, the overturning driving cylinder 37 starts to extend to drive the working rocker 35 to start rotating until the airbag 32 is overturned to the maximum angle, that is, the maximum buoyancy is generated; the second step is that: the crawler belt 8 backs up to the bank; the third step: with reference to fig. 13, the synchronous leg mechanism 6 extends to the outer side of the hull 5 through the double-out-rod oil cylinder 29 and then is locked, and then the rotary arm driving oil cylinder 25 extends, that is, after the rotary arm rotates to the position shown in fig. 12, the straight-moving arm driving oil cylinder 22 begins to extend to provide adhesion force for the amphibious ship; the fourth step: the crawler continues to run backwards, and meanwhile, the rotating arm drives the oil cylinder 25 to slowly extend, so that the situation that the adhesion coefficient of the bank slope is too small and the amphibious ship slides downwards to lose control is prevented; the fifth step: and repeating the third step and the fourth step in the cycle to know that the amphibious ship successfully enters the river. When the amphibious ship mainly goes back to the river, the air bag overturning river-descending mechanism 2 overturns to the stern to generate buoyancy. As the amphibious ship gradually backs up and descends the river, the buoyancy generated by the air bag 32 is gradually increased to the maximum buoyancy, and the smooth and stable completion of the transition operation process from the land to the water is ensured. After successful descent, the air bag 32 is turned over to the initial state shown in fig. 8, the synchronous leg mechanism 6 is restored to the initial state shown in fig. 10, and the crawler 8 stops working.

The process of landing the amphibious ship is similar to the process of going into the river, and the main steps are as follows: the first step is as follows: the air bag 32 is turned to the maximum angle, so that the situation that the posture angle of the ship body is changed too much due to overlarge bank slope angle is prevented, and the climbing risk of the amphibious ship is increased; the second step is that: referring to fig. 13, the synchronous leg mechanism 6 extends to the outer side of the hull through the double-out-rod oil cylinder 29 and then is locked, then the rotating arm driving oil cylinder 25 extends, that is, after the rotating arm 23 rotates to the position shown in fig. 11, the direct-acting arm driving oil cylinder 22 starts to extend to provide adhesive force for the amphibious ship, when the direct-acting telescopic arm 27 extends to hard soil, the hull 5 rises, and then the rotating arm driving oil cylinder 25 extends, the amphibious ship starts to climb upwards; the third step: the propeller provides forward thrust for the amphibious ship from beginning to end to assist the climbing on the upper bank of the amphibious ship; the fourth step: when the crawler contacts a bank slope, the multi-way valve is opened to supply oil to the crawler driving motor 13, and climbing traction is provided; the fifth step: and circulating the third step until the amphibious ship smoothly comes on shore.

The amphibious ship can finish land walking by matching the contour wheels 3 with four tracks, and the two-leg synchronous action of the synchronous leg type mechanism 6 assists the track walking system and the air bag overturning and river-descending mechanism 2, so that the aim of enabling the amphibious ship to successfully land and descend a river is fulfilled.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. An amphibious ship is characterized by comprising a ship body (5), a propeller, a track group mechanism (3), an air bag overturning and river descending mechanism (2), a profiling wheel mechanism (4) and a synchronous leg type mechanism (6);

the propeller is arranged at the bottom of the ship body (5); the number of the track group mechanisms (3) is four, and the four track group mechanisms (3) are respectively arranged on two sides of the ship body, and two track group mechanisms are arranged on each side; the profiling wheel mechanisms (4) are arranged on two sides of the ship body (5) and are positioned in the middle of the front and rear crawler belt group mechanisms (3); the air bag overturning and river descending mechanism (2) is arranged on a deck at the tail part of the ship body (5); the synchronous leg type mechanism (6) is arranged on a deck at the rear side of the cab (7).

2. An amphibious vessel according to claim 1, characterised in that the air bag roll-over launching gear (2) comprises a base bracket (39), a cylinder base (38), an air bag roll-over stand (33), a side link (34), a working rocker (35), a piston rod square connector (36), a roll-over drive cylinder (37), a rocker (40), an air bag (32) and a four-bar frame (41);

the left side and the right side of the air bag (32) are respectively provided with an oil cylinder base (38), a side link (34), a working rocker (35), a four-rod rack (41), a turnover driving oil cylinder (37), a piston rod square connecting piece (36) and a rocker (40); the ship comprises a ship body (5), a base support (39), a turnover driving oil cylinder (37), an oil cylinder base (38), a rocker (40), a four-rod rack (41), a working rocker (35) and a connecting rod (34), wherein the base support (39) is connected with the ship body (5), the oil cylinder base (38) is hinged to the base support (39) through a pin shaft, the rocker (40), the four-rod rack (41), the working rocker (35) and the connecting rod (34) are hinged to form a plane double-rocker mechanism through the pin shaft, a piston rod square connecting piece (36) is connected with a piston rod of the turnover driving oil cylinder (37).

3. An amphibious vessel according to claim 1, characterised in that said synchronized leg mechanism (6) comprises a straight boom drive cylinder (22), a swivel arm (23), a fixed earring (24), a swivel arm drive cylinder (25), an earring seat (26), a straight boom (27), a support frame (28), a double boom cylinder (29), an extension shaft (30) and a dovetail rail (31);

the left side and the right side of the double-rod-out oil cylinder (29) are respectively provided with a rotating arm (23), a direct-acting telescopic arm (27), a rotating arm driving oil cylinder (25), a direct-acting arm driving oil cylinder (22), a fixed lug ring (24), a lug ring seat (26), a dovetail groove guide rail (31) and an extending shaft (30), two ends of the extending shaft (30) are respectively connected with the double-rod-out oil cylinder (29) and the lug ring seat (26), the dovetail groove guide rail (31) is connected with a bottom support frame (28), the support frame (28) is installed on a chassis of a ship body (5), the double-rod-out oil cylinder (29) is connected with the support frame (28), and the fixed lug ring (24) and the lug ring seat (26) are fixedly connected through two; the rotating arm (23) is connected with the fixed lug ring (24) through a pin shaft, the inner side of the rectangular tube of the rotating arm (23) is used as a slide way for the direct-acting telescopic arm (27), the bottom of the cylinder barrel of the direct-acting arm driving oil cylinder (22) is hinged with the rotating arm (23), the piston rod end of the direct-acting telescopic arm is hinged with the direct-acting telescopic arm (27), the bottom of the cylinder barrel of the rotary driving oil cylinder (25) is hinged with the fixed lug ring (24), and the piston rod end of the rotary driving oil cylinder is hinged with the rotating.

4. An amphibious vessel according to claim 1, characterised in that said crawler set means (3) comprises a crawler (8), a tow pulley (9), a tensioning means (10), a leading wheel (11), a driving wheel (12), a driving motor (13), a crawler frame (14) and a load bearing wheel (15);

the crawler frame (14) is connected with the ship body (5), the driving wheel (12) and the guide wheel (11) are respectively hinged to the left side and the right side of the crawler frame (14) through wheel shafts, and the driving wheel (12) is connected with the driving motor (13); the dragging wheel (9) and the bearing wheel (15) are respectively arranged on the upper side and the lower side of the crawler frame (14), the guide wheel (11) is connected with the tensioning mechanism (10), and the tensioning mechanism (10) is arranged on the crawler frame (14); the crawler belt (8) is in contact with the towing wheel (9), the tensioning mechanism (10), the guide wheel (11), the driving wheel (12) and the bearing wheel (15).

5. An amphibious vessel according to claim 4, characterised in that the output shafts of the driving motors (13) are each provided with a speed sensor, which speed sensor is connected to a controller of the cab (7), and the speed sensors measure the speed of the driving motors (13) and transmit it to the controller, which controls the speed of the driving motors (13).

6. An amphibious vessel according to claim 1, characterised in that the profile wheel (4) comprises a wheel frame (16), a solid rubber wheel (17), a shock absorber, a rotating main shaft (19), a bearing block (20) and a swinging wheel frame (21);

the wheel frame (16) is connected with the ship body (5), one end of the rotating main shaft (19) is connected with the wheel frame (16), the other end of the rotating main shaft is connected with the bearing seat (20), the swinging wheel frame (21) is fixed with the bearing seat (20) through bolts, two sides of the swinging wheel frame (21) are respectively provided with a solid rubber wheel (17), and a wheel shaft of the solid rubber wheel (17) is hinged with the swinging wheel frame (21) through a bearing; the two sides of the bearing seat (20) are respectively provided with a shock absorber, the upper end of the shock absorber is hinged with the wheel frame (16) through a pin shaft, and the lower end of the shock absorber is hinged with the swinging wheel frame (21) through a pin shaft.

7. An amphibious vessel according to claim 1, characterised in that the propeller is a 360 ° full circle pitch propeller (1).

8. An amphibious vessel according to claim 1, characterised in that the shock absorber is a spring shock absorber (18).