CN101549744A - Hybrid multifunctional ocean monitoring independent platform - Google Patents
Hybrid multifunctional ocean monitoring independent platform Download PDFInfo
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- CN101549744A CN101549744A CNA2009100688400A CN200910068840A CN101549744A CN 101549744 A CN101549744 A CN 101549744A CN A2009100688400 A CNA2009100688400 A CN A2009100688400A CN 200910068840 A CN200910068840 A CN 200910068840A CN 101549744 A CN101549744 A CN 101549744A
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- 230000005484 gravity Effects 0.000 claims abstract description 79
- 230000001105 regulatory effect Effects 0.000 claims abstract description 41
- 230000006870 function Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 5
- 239000011449 brick Substances 0.000 claims description 39
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- 239000010985 leather Substances 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 5
- 230000007935 neutral effect Effects 0.000 abstract description 12
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- 230000033001 locomotion Effects 0.000 description 7
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- 241000870659 Crassula perfoliata var. minor Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 235000009566 rice Nutrition 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
Abstract
The present invention discloses a hybrid multifunctional ocean monitoring independent platform which comprises the following components: a body, two airfoils which are symmetrically installed on the body, four tail rudders which are installed with a shape like the Chinese character ''mi'', a communication antenna installed on the front end of body, and an airscrew at the bottom end of body. The body comprises a head cover, a floating power driving cabin section, a function broadening cabin section and an AUV function cabin section. The platform also comprises a gravity regulating cabin section. A gravity center regulating mechanism is installed in the gravity regulating cabin section. The gravity regulating cabin section is installed adjacent at the gravity center position of platform. The gravity center regulating mechanism comprises a central shaft and two rotatable battery packs installed on the central shaft. The central shaft and the gravity center regulating cabin section are connected through a rotating joint. Two battery packs have save shapes and same weight. The connecting line between the gravity center of battery pack and the gravity center of platform is perpendicular to the axis of platform. The gravity center of platform is the perpendicular foot of perpendicular line. The hybrid multifunctional ocean monitoring independent platform of the invention has the functions of four platforms of underwater independent vehicle, underwater independent glider, profiling float and neutral drifting float.
Description
Technical field
The invention belongs to the electromechanical integration field, be specifically related to a kind of autonomous navigating platform that is used for marine environmental monitoring.
Background technology
In order to protect the marine environment, efficiently utilize marine resources, hydrospace detection is essential.Autonomous under water glider, autonomous aircraft, hybrid type underwater sailing device (Hybrid Autonomous Underwater Vehicle) (catchment autonomous aircraft and autonomous under water glider function aircraft down), profile buoy and neutral drift subsurface buoy show and give prominence to as the carrier of hydrospace detection sensor their importance day under water.
Autonomous under water aircraft is made up of propeller plant, tail vane steering hardware etc.Autonomous under water glider is made up of buoyancy-driven device, roll and pitch regulation device etc.The autonomous under water aircraft of mixed type is made up of propeller plant, buoyancy-driven device, roll and pitch regulation device etc.The three does not possess the function of profile buoy and neutral drift subsurface buoy.
The autonomous under water all built-in pitching of aircraft of autonomous under water glider and mixed type and roll control apparatus and buoyancy-driven device, the pitch attitude regulatory function of bringing when not making full use of buoyancy-driven is provided with a cover pitch regulation device, complex structure more.
Profile buoy and neutral drift subsurface buoy have only the buoyancy-driven of vertical direction, do not have attitude and direction adjustment device, and independence is relatively poor.Do not possess under water autonomous aircraft, autonomous glider and the Combination function of autonomous aircraft under water under water.
Summary of the invention
The present invention provides a kind of hybrid multifunctional ocean monitoring independent platform for solving the technical matters that exists in the known technology, this platform has overcome the shortcoming of current marine monitoring with profile buoy and neutral drift subsurface buoy independence difference, simplify current autonomous aircraft and the Combination structure of autonomous aircraft under water under water, expanded autonomous aircraft and the mixed type function of autonomous aircraft under water under water.
The technical scheme that the present invention takes for the technical matters that exists in the solution known technology is: a kind of hybrid multifunctional ocean monitoring independent platform, comprise body, two wings that symmetry is installed on the body, four tail vanes that M shape is arranged and place the communication antenna of body head end and the screw propeller of body end, described body comprises head cover, buoyancy-driven cabin section, functions expanding cabin section and AUV function cabin section, the outer leather bag of buoyancy-driven is installed in the described head cover, described buoyancy-driven cabin intersegmental part is installed hydraulic efficiency pressure system, described functions expanding cabin section is held the task sensor, described AUV function cabin intersegmental part fixed installation tail vane steering hardware, section rear portion, described AUV function cabin fixed installation screw propulsion die, this platform also comprises center of gravity adjusting cabin section, described center of gravity is regulated in the section of cabin and is provided with the center of gravity regulating mechanism, described center of gravity is regulated the cabin section and is arranged near this flat-bed center-of-gravity position, described center of gravity regulating mechanism comprises a center shaft and two rotatable power brick that are installed on the center shaft, described center shaft is regulated the cabin section with center of gravity and is connected by rotary joint, described two power brick shapes are identical, be equal in weight, described power brick center of gravity arrives the line of this platform center of gravity perpendicular to the flat-bed axis, and this flat-bed center of gravity is the intersection point of this vertical line.
Described body comprises that bonded assembly head cover, buoyancy-driven cabin section, center of gravity are regulated cabin section, functions expanding cabin section and AUV function cabin section successively.
The external form of described body is a torpedo.
Be fixed with sleeve on the described center shaft, an end of described sleeve is fixed with the folding motor reducer, on the output shaft of described folding motor reducer bevel pinion is installed; The other end of described sleeve is fixed with large straight gear, described large straight gear and small Spur gear engagement, and described small Spur gear is installed on the output shaft of swing motor reducer, and described swing motor reducer is packed in center of gravity and regulates in the section of cabin; Described each power brick respectively comprises the battery pack frame, be embedded in the battery pack in the battery pack frame and be fixedly mounted on bevel gear wheel on the battery pack frame, the bevel gear wheel direction of described two power brick is sleeved on the described sleeve relatively, rotationally, with described bevel pinion engagement.
One end of described center shaft is fixed with motor, the output shaft of described motor is connected with leading screw, on the described leading screw feed screw nut is installed, the both sides of described feed screw nut are hinged with connecting rod I and connecting rod II respectively symmetrically, described connecting rod I and a power brick are hinged, described connecting rod II and another power brick are hinged, and described each power brick respectively comprises the battery pack frame, is embedded in the battery pack in the battery pack frame; The other end of described center shaft is fixed with large straight gear, described large straight gear and small Spur gear engagement, and described small Spur gear is installed on the output shaft of swing motor reducer, and described swing motor reducer is packed in center of gravity and regulates in the section of cabin.
Advantage and good effect that the present invention has are: improved the independence of current marine monitoring with profile buoy and neutral drift subsurface buoy, simplify current autonomous aircraft and the Combination design of autonomous aircraft under water under water, expanded autonomous aircraft and the mixed type function of autonomous aircraft under water under water; This platform adopts the modular construction design, can select different wing sizes and shape and increase and decrease function cabin section according to the task needs.This platform structure is simple, have under water autonomous aircraft (Autonomous Underwater Vehicle), autonomous glider (Autonomous UnderwaterGlider), profile buoy (Profiling Float) and the neutral four kinds of flat-bed functions of subsurface buoy (Neutral-buoyant DriftingBuoy) of drifting about under water, by the switching between mode of operations such as quick sailing, saw-toothed profile, vertical section, the drift of hovering to adapt to different sea situations and mission requirements, and in a certain marine site on a large scale, carry out for a long time, high efficiency detects operation.
Description of drawings
Fig. 1 is an External view of the present invention;
Fig. 2 is an internal configurations structural representation of the present invention;
Fig. 3-a is the block diagram of center of gravity regulating mechanism of the present invention;
Fig. 3-b is the working state schematic representation of center of gravity regulating mechanism of the present invention;
Fig. 4 is an athletic posture scheme drawing of the present invention;
Fig. 5-a is a front elevation of the present invention;
Fig. 5-b is a back view of the present invention;
Fig. 6 is a mode of operation scheme drawing of the present invention;
Fig. 7-a is first kind of structural representation of center of gravity regulating mechanism of the present invention;
Fig. 7-b is the decomposing schematic representation of Fig. 7-a;
Fig. 8-a is second kind of structural representation of center of gravity regulating mechanism of the present invention;
Fig. 8-b is the decomposing schematic representation of Fig. 8-a;
Fig. 8-c is the multi-connecting-rod mechanism scheme drawing of being made up of power brick framework, center shaft etc. among Fig. 8-a;
The mode of operation schematic diagram of multi-connecting-rod mechanism when Fig. 8-d is two power brick closures;
Fig. 8-e is the mode of operation schematic diagram of two power brick multi-connecting-rod mechanism when opening.
Among the figure: 1, head cover, 2, buoyancy-driven cabin section, 3, center of gravity is regulated the cabin section, 4, functions expanding cabin section, 5, AUV function cabin section, 6, communication antenna, 7, wing, 8, tail vane, 9, screw propeller, 10, the outer leather bag of buoyancy-driven, 11, hydraulic power system, 12, the center of gravity regulating mechanism, 13, the tail vane steering hardware, 14, propeller propulsion system, 15, center shaft, 16, power brick (1), 17, power brick (2), 18, battery pack frame (1), 19, battery pack frame (2), 20, battery pack (2), 21, the swing motor reducer, 22, small Spur gear, 23, large straight gear, 24, folding motor reducer (2), 25, bevel gear wheel (2), 26, bevel gear wheel (1), 27, bevel pinion, 28, the center shaft sleeve, 29, battery pack (1), 30, multi-connecting-rod mechanism, 31, stepping motor, 32, leading screw, 33, feed screw nut, 34a, connecting rod I, 34b, connecting rod II, 35, the rotary joint part, 36, the stepping motor fixed mount.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1, Fig. 2, Fig. 5-a, Fig. 5-b, a kind of hybrid multifunctional ocean monitoring independent platform of the present invention, two wings 7 installing by body, symmetry, four tail vanes 8 that M shape is arranged and place body head end, terminal communication antenna 6 and screw propeller 9 to form respectively.Body is regulated cabin section 3, functions expanding cabin section 4 and AUV function cabin by head cover 1, buoyancy-driven cabin section 2, center of gravity and is formed for 5 sections.Body can adopt the torpedo profile, can be convenient to realize modularization more.
The outer leather bag 10 of buoyancy-driven is installed in the head cover 1, the buoyancy-driven cabin section 2 inner hydraulic power systems 11 of installing, center of gravity is regulated in the cabin section 3 center of gravity regulating mechanism 12 is set, functions expanding cabin section 4 is held the task sensor, AUV function cabin section 5 internal fixation are installed tail vane steering hardware 13, section 5 rear portions, AUV function cabin fixed installation propeller propulsion system 14.
See also Fig. 3-a, Fig. 3-b, center of gravity regulating mechanism 12 is made up of a center shaft 15 and two power brick 16,17.Center shaft 15 and center of gravity are regulated between the cabin section 3 and are adopted rotary joint (for example: bearing) interconnect.Identical, equiponderant two power brick 16,17 of shape are installed on the center shaft 15, can relatively rotate around center shaft 15.
The implementation of center of gravity regulating mechanism 12 is varied, such as gear drive, and multi-connecting-rod mechanism etc.Provide a kind of gear transmission implementation method below.Shown in Fig. 7-a and Fig. 7-b, bevel pinion 27 is fixedly mounted on the output shaft of folding motor reducer 24, folding motor reducer 24 is fixedly mounted on the center shaft sleeve 28, large straight gear 23 also is fixedly mounted on the center shaft sleeve 28, center shaft sleeve 28 is fixedly mounted on the center shaft 15 simultaneously, and center shaft 15 is regulated with center of gravity and adopted rotary joint to be connected between the cabin section 3.Power brick (1) 16 by battery pack frame (1) 18, be embedded in the battery pack (1) 29 in the battery pack frame (1) 18 and the bevel gear wheel (1) 26 that is fixedly mounted on the battery pack frame (1) 18 is formed.Power brick (2) 17 by battery pack frame (2) 19, be embedded in the battery pack (2) 20 in the battery pack frame (2) 19 and the bevel gear wheel (2) 25 that is fixedly mounted on the battery pack frame (2) 19 is formed.Two bevel gear wheels 25,26 are sleeved on the center shaft sleeve 28, can relatively rotate around center shaft sleeve 28, two bevel gear wheel 25,26 directions mesh relatively and with bevel pinion 27, like this, the output torque of folding motor reducer 24 drives 15,16 opening and closing of two power brick by bevel drive.Swing motor reducer 21 is fixedly mounted on center of gravity and regulates on the cabin section 3, small Spur gear 22 is fixedly mounted on the output shaft of swing motor reducer 21, small Spur gear 22 drives 16,17 swings of two power brick with large straight gear 23 engagements that are fixedly mounted on the center shaft sleeve 28, the output torque of swinging motor reducer 21 like this by the straight gear transmission.Next provide a kind of many connecting rods implementation method.Shown in Fig. 8-a～8-e, large straight gear 23 is enclosed within on the center shaft 15, and with center shaft 15 relative fixed, stepping motor fixed mount 36 also is fixed on the center shaft 15, center shaft 15 is regulated cabin section 3 by rotary joint and center of gravity and is connected.Swing motor reducer 21 is captiveed joint with center of gravity adjusting cabin section 3, small Spur gear 22 is enclosed within on the output shaft of swing motor reducer 21, and with the swing motor reducer 21 the output shaft relative fixed, small Spur gear 22 is meshing with each other with large straight gear 23, like this, the output torque of swing motor reducer 21 can be used for driving 16,17 relative center shaft 15 swings of two power brick.Stepping motor 31 is captiveed joint with center shaft 15 by stepping motor fixed mount 36, stepping motor 31 output shafts are captiveed joint with leading screw 32, pass through the feed screw nut auxiliary driving between leading screw 32 and the feed screw nut 33, feed screw nut 33 adopts revolute pair to be connected respectively with between connecting rod I 34a, the connecting rod II 34b of both sides, each connecting rod respectively with between the rotary joint part 35 adopts revolute pair to be connected, and rotary joint part 35 is captiveed joint with power brick framework 18,19.Stepping motor 31, leading screw 32, feed screw nut 33, connecting rod 34, power brick framework 18,19, center shaft 15 etc. are formed multi-connecting-rod mechanism 30.Multi-connecting-rod mechanism 30 is realized the opening and closing movement of power brick 16,17 relative center shafts 15.Fig. 8-d, Fig. 8-e two figure represent respectively that power brick 16,17 is closed and the mode of operation of multi-connecting-rod mechanism 30 when opening.
As shown in Figure 6, autonomous under water aircraft that multi-functional mixed type observation platform is integrated, four kinds of flat-bed functions such as autonomous glider, profile buoy and neutral drift subsurface buoy under water have quick sailing, sawtooth section, four kinds of mode of operations such as drift and vertical section hover.
The quick sailing pattern: multi-functional mixed type marine environmental monitoring platform (for convenience, during the hereinafter referred platform) with this pattern work, the outer leather bag 10 of buoyancy-driven is set to the neutral buoyancy oil drain quantity, promptly when the overall buoyancy of flat-bed equals flat-bed gravity, the fluid volume that the outer leather bag of buoyancy-driven is held, this moment, the flat-bed net buoyancy was zero.In the center of gravity regulating mechanism 12, two power brick 16,17 forward position shown in (b) among Fig. 3-b to around center shaft 15, and this moment, the flat-bed center of gravity was lower than the flat-bed centre of buoyancy, and platform stable is the attitude shown in (c) in Fig. 4.Screw propeller 9 rotates, and drives the navigation of platform forward direction.Four tail vanes 8 of rice font layout are got suitable rudder angle and are turned to generation pitching, deflecting torque implementation platform, produce the reaction torque that rolling moment is brought with symmetric screw propeller 9.Screw propeller 9 reaction torques also can come balance by center of gravity regulating mechanism 12, and this moment, two power brick 16,17 turned to as (c) among Fig. 3-b or the position (d), and 8 of four tail vanes produce pitching, the deflection moment of torsion gets final product.This mode of operation is used for autonomous aircraft under the Simulated Water, can realize accurate TRAJECTORY CONTROL and target tracking.
Sawtooth section pattern: platform is done when tiltedly going up the section motion with the work of this pattern, and two power brick 16,17 forward position shown in (b) among Fig. 3-b to around center shaft 15 in the center of gravity regulating mechanism 12, and this moment, the flat-bed center of gravity was lower than the flat-bed centre of buoyancy.The outer leather bag 10 of buoyancy-driven is set to greater than the neutral buoyancy oil drain quantity, and produces a nose-up pitching moment, and this moment, flat-bed buoyancy was greater than gravity.When platform forwards attitude shown in Fig. 4 (d) to, the nose-down pitching moment balance that nose-up pitching moment and power brick 16,17 gravity produce.Because the existence of wing 7 and body produces a propulsion when platform rises; When doing tiltedly down section motion, two power brick 16,17 forward position shown in (b) among Fig. 3-b to around center shaft 15 in the center of gravity regulating mechanism 12, and this moment, the flat-bed center of gravity was lower than the flat-bed centre of buoyancy.The outer leather bag 10 of buoyancy-driven is set to less than the neutral buoyancy oil drain quantity, and produces a nose-down pitching moment, and this moment, flat-bed buoyancy was less than gravity.When platform forwards attitude shown in Fig. 4 (b) to, the nose-up pitching moment balance that nose-down pitching moment and power brick 16,17 gravity produce.Because the existence of wing 7 and body produces a propulsion when platform descends.In the sawtooth section mode of operation, screw propeller 9 stops operating, and tail vane 8 is used for platform and turns to.This mode of operation is used for autonomous glider under the Simulated Water, realizes high efficiency for a long time marine monitoring task on a large scale.
The vertical section pattern: platform is with the work of this pattern, do vertical when going up the section motion, the outer leather bag 10 of buoyancy-driven be set to greater than, this moment, flat-bed buoyancy was greater than gravity.Two power brick 16,17 forward position shown in (a) among Fig. 3-b to around center shaft 15 in the center of gravity regulating mechanism 12, this moment flat-bed center of gravity and centre of buoyancy all on the rotation axis of body, and the centre of buoyancy is in the center of gravity front portion.Like this, platform will be stabilized to the attitude shown in Fig. 4 (a), and motion vertically upward; When doing the vertical motion of section down, the outer leather bag 10 of buoyancy-driven be set to less than, this moment, flat-bed buoyancy was less than gravity.Two power brick 16,17 forward position shown in (a) among Fig. 3-b to around center shaft 15 in the center of gravity regulating mechanism 12, this moment flat-bed center of gravity and centre of buoyancy all on the rotation axis of body, and the centre of buoyancy is at the center of gravity rear portion.Like this, platform will be stabilized to the attitude shown in Fig. 4 (e), and motion vertically downward.In the vertical section mode of operation, screw propeller 9 stops operating, and tail vane 8 is in reset mode (as shown in Figure 5), and promptly tail vane 8 does not produce steering torque.This mode of operation is used for the simulated section buoy, realizes the vertical sampling of ocean water column information.
The drift mode of hovering: platform is during with this pattern work, and the outer leather bag 10 of buoyancy-driven is set to, and this moment, flat-bed buoyancy equaled gravity.Two power brick forward position shown in (a) among Fig. 3-b to around center shaft 15 in the center of gravity regulating mechanism 12, this moment flat-bed center of gravity and centre of buoyancy all on the rotation axis of body, and centre of buoyancy and center of gravity overlap.This mode of operation is used to simulate neutral drift subsurface buoy, hovers or moves with stream.
Although in conjunction with the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (5)
1. hybrid multifunctional ocean monitoring independent platform, comprise body, two wings that symmetry is installed on the body, four tail vanes that M shape is arranged and place the communication antenna of body head end and the screw propeller of body end, described body comprises head cover, buoyancy-driven cabin section, functions expanding cabin section and AUV function cabin section, the outer leather bag of buoyancy-driven is installed in the described head cover, described buoyancy-driven cabin intersegmental part is installed hydraulic efficiency pressure system, described functions expanding cabin section is held the task sensor, described AUV function cabin intersegmental part fixed installation tail vane steering hardware, section rear portion, described AUV function cabin fixed installation screw propulsion die, it is characterized in that, this platform also comprises center of gravity adjusting cabin section, described center of gravity is regulated in the section of cabin and is provided with the center of gravity regulating mechanism, described center of gravity is regulated the cabin section and is arranged near this flat-bed center-of-gravity position, described center of gravity regulating mechanism comprises a center shaft and two rotatable power brick that are installed on the center shaft, described center shaft is regulated the cabin section with center of gravity and is connected by rotary joint, described two power brick shapes are identical, be equal in weight, described power brick center of gravity arrives the line of this platform center of gravity perpendicular to the flat-bed axis, and this flat-bed center of gravity is the intersection point of this vertical line.
2. hybrid multifunctional ocean monitoring independent platform according to claim 1 is characterized in that, described body comprises that bonded assembly head cover, buoyancy-driven cabin section, center of gravity are regulated cabin section, functions expanding cabin section and AUV function cabin section successively.
3. hybrid multifunctional ocean monitoring independent platform according to claim 2 is characterized in that, the external form of described body is a torpedo.
4. hybrid multifunctional ocean monitoring independent platform according to claim 1, it is characterized in that, be fixed with sleeve on the described center shaft, an end of described sleeve is fixed with the folding motor reducer, on the output shaft of described folding motor reducer bevel pinion is installed; The other end of described sleeve is fixed with large straight gear, described large straight gear and small Spur gear engagement, and described small Spur gear is installed on the output shaft of swing motor reducer, and described swing motor reducer is packed in center of gravity and regulates in the section of cabin; Described each power brick respectively comprises the battery pack frame, be embedded in the battery pack in the battery pack frame and be fixedly mounted on bevel gear wheel on the battery pack frame, the bevel gear wheel direction of described two power brick is sleeved on the described sleeve relatively, rotationally, with described bevel pinion engagement.
5. hybrid multifunctional ocean monitoring independent platform according to claim 1, it is characterized in that, one end of described center shaft is fixed with motor, the output shaft of described motor is connected with leading screw, on the described leading screw feed screw nut is installed, the both sides of described feed screw nut are hinged with connecting rod I and connecting rod II respectively symmetrically, and described connecting rod I and a power brick are hinged, described connecting rod II and another power brick are hinged, and described each power brick respectively comprises the battery pack frame, is embedded in the battery pack in the battery pack frame; The other end of described center shaft is fixed with large straight gear, described large straight gear and small Spur gear engagement, and described small Spur gear is installed on the output shaft of swing motor reducer, and described swing motor reducer is packed in center of gravity and regulates in the section of cabin.
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| CN101758909B (en) * | 2009-12-22 | 2011-11-23 | 大连海事大学 | Offshore spilled oil tracking buoy and operation method thereof |
| CN102673740A (en) * | 2011-01-07 | 2012-09-19 | 法国赛舍尔公司 | Marine device |
| CN102862667A (en) * | 2012-09-26 | 2013-01-09 | 浙江大学 | Mixed type underwater navigation detector |
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| CN101758909B (en) * | 2009-12-22 | 2011-11-23 | 大连海事大学 | Offshore spilled oil tracking buoy and operation method thereof |
| CN102193276A (en) * | 2010-03-18 | 2011-09-21 | 何浩权 | Unmanned submersible photographical boat |
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Assignee: URBAN PLANNING AND DESIGN INSTITUTE, TIANJIN University Assignor: Tianjin University Contract record no.: 2011120000136 Denomination of invention: Hybrid multifunctional ocean monitoring independent platform Granted publication date: 20110420 License type: Exclusive License Open date: 20091007 Record date: 20110815 |
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