CN105752301A - Self-inclination submersing device - Google Patents
Self-inclination submersing device Download PDFInfo
- Publication number
- CN105752301A CN105752301A CN201610104898.6A CN201610104898A CN105752301A CN 105752301 A CN105752301 A CN 105752301A CN 201610104898 A CN201610104898 A CN 201610104898A CN 105752301 A CN105752301 A CN 105752301A
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- China
- Prior art keywords
- submersible
- motor
- main cylinder
- pressure
- propeller
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B63G8/14—Control of attitude or depth
-
- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a self-inclination submersing device.A submersing device body mainly comprises a pressure-resistant cabin, a depth sensor, an equipment mounting platform, a camera, a battery, a weight moving mechanism, underwater propellers which are connected to each other and the like, wherein the pressure-resistant cabin is composed of a front end cover, a rear end cover and a main cylinder; a navigation, imaging, communication, power and control system is formed.Propelling force of the propellers is controlled through the rotation speed of a motor, the inclination angle of the submersing device is controlled through the weight moving mechanism, so that distribution of propelling force on the horizontal face and the vertical face is completed, control over the navigation direction and the speed and ascending/descending changes of the submersing device are achieved, and the posture and the floating force of the submersing device are achieved through the pressure-resistant cabin and weight adjustment.The self-inclination submersing device is simple in structure, economical, portable, easy to popularize and suitable for various underwater detection, maintenance and inspection.
Description
Technical field
The present invention relates to submersible field, being specifically related to a kind of freely to change trim angle thus realizing the submersible that vertical is motor-driven.
Background technology
The exploitation application of all kinds of Novel submarine hydrophones is indispensable for the exploitation of marine resources.Owing to oceanographic condition is complicated, bad environments, the mobility of submersible is required high, under normal circumstances submersible at least should have longitudinally, laterally, the ability such as vertical motor-driven and horizontal plane revolution.For applying more low speed submersible in ocean engineering, the performance under low-speed motion of traditional rudder face maneuverability pattern is poor, tail hydroplane is also easy to enter inverse speed district, and vector advances and shows outstanding maneuvering performance when low-speed motion, thus obtaining a lot of fortune application.On current low speed submersible, the main method adopting fixing propeller vector to arrange, reaches the purpose that vector advances.
Namely propeller vector is arranged is fixedly mount multiple propeller respectively on the horizontal plane and vertical of submersible, the most succinct arrangement is that 2 horizontal plane propellers are arranged in latent device both sides, it advances axis and latent device parallel longitudinal, 1 vertical propeller is arranged in latent device medial launder, and it advances axis vertical with latent device parallel.The propeller number that this method needs is more, can increase the complexity of whole propulsion system, improve cost, and part helix oar only just can start when specific operation, at ordinary times in most cases all standby need not, cause chassis resources waste.
Therefore, it is necessary to a kind of new technical scheme is to solve the problems referred to above.
Summary of the invention
Goal of the invention: the purpose of the present invention freely can change trim angle thus realizing the submersible that vertical is motor-driven for providing a kind of, realizes its propelling demand when assembling less propeller, thus reducing the complexity of propulsion system.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is:
A kind of from inclining submersible, including pressure-resistant cabin, it is installed on the underwater propeller of both sides, pressure storehouse, the driving device being arranged in pressure-resistant cabin and balancing weight；Described driving device drives balancing weight movable in pressure-resistant cabin.
And above-mentioned from inclining the control method of submersible, adopt the following technical scheme that
By making balancing weight move forward and backward, change the position of centre of gravity from the submersible that inclines, owing to the profile of the submersible that certainly inclines is constant thus ensureing that buoyancy centre of buoyancy is constant, so that the change of submersible generation trim angle；
When submersible is without trim, underwater propeller is responsible for advance and horizontal plane turns to, use as vertical pusher when submersible trim to ± 90 degree, it is responsible for vertical drop dive and floating, when submersible trim is within the scope of 0 to ± 90 degree, thrust is each responsible for motor-driven motor-driven accordingly at the component of horizontal plane and vertical
Beneficial effect: 1, the present invention only uses 2 set underwater propellers, submersible is made to realize required trim angle by corresponding counterweight movement mechanism, make underwater propeller respectively as horizontal plane or vertical propeller, or be responsible for the motor-driven of horizontal plane and vertical according to the demand of manipulation simultaneously.System can at least reduce a set of underwater propeller of use than traditional method, reduces the complexity of whole propulsion system and to the demand driving power, it is also possible to reduce traditional method vertical thrusters and install required labyrinth.
2, the present invention controls propeller thrust by motor speed, realize required trim angle by counterweight movement mechanism and control propulsive force axis angle, thus completing the thrust distribution at horizontal plane and vertical, realize the course of submersible and speed controlling and eustasy, submersible resistance when vertical is motor-driven is also little than the resistance of tradition submersible, and the attitude of submersible and buoyancy are realized by pressure-resistant cabin and ballast adjustment.
3, present configuration is simple, economical, light, easy to spread, it is adaptable to all kinds of undersea detections, maintenance overhaul.
Accompanying drawing explanation
Fig. 1 is the present invention front view from the submersible that inclines.
Fig. 2 is the present invention top view from the submersible that inclines.
Fig. 3 is that the present invention is from the propeller front view inclining in submersible.
Fig. 4 is that the present invention is from inclining submersible trim schematic diagram.
Fig. 5 is the present invention control block diagram from the submersible that inclines.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to shown in Fig. 1 to Fig. 5, disclosure is a kind of from inclining submersible, including pressure-resistant cabin, is installed on the underwater propeller 4 of both sides, pressure storehouse, is arranged in the driving device 18 of pressure-resistant cabin, balancing weight 12.Pressure-resistant cabin includes main cylinder 1 and is enclosed in the front and rear cover 2 of main cylinder rear and front end.Considering weight and intensity, main cylinder can adopt the material of the high strength-weight ratio such as engineering plastics, aluminium alloy to make, it is contemplated that cost, the present invention adopts engineering plastics to make；For ensureing the observability in the visual field, front and rear cover adopts transparent material to make, as quartz glass, lucite etc. make.Main cylinder and front and rear cover are bolted, and ensure junction watertight with O RunddichtringO, and the pressure-resistant cabin of composition provides main submerged buoyancy.
Main cylinder 1 is provided above umbilical cables port 3, and communication umbilical cables leads to the water surface by it, and the data that the guarantee of the connection water surface and under water computer is required exchange.Main cylinder front lower place arranges depth transducer 5 for detecting latent device current depth, also can add dubbing if desired and receive for detecting underwater topography, and related data is by by being reached water surface computer by umbilical cables after computer acquisition under water.
In Fig. 2, arranging equipment mounting platform 6 inside pressure-resistant cabin, platform front portion arranges video camera 7, for underwater observation.The middle part of mounting platform 6 arranges computer 8 under water, and video camera 7 is communicated with water surface computer 22 by umbilical cables with computer 8 under water；Arranging motor in the middle part of equipment mounting platform 6 and drive plate 9, rear portion arranges step motor drive plate 10, and motor drives plate 9 and step motor drive plate 10 to connect computer 8 under water by control line；The bottom of equipment mounting platform 6 is provided with counterweight movement mechanism 11, counterweight movement mechanism 11 is provided with the balancing weight 12 that can pass through the movement of computer 8 control under water, the movable center of gravity changing submersible of lead, it is achieved required trim angle, thus reaching the purpose that submersible vector advances；Main cylinder 1 centre position each side set a lid 13 through walls symmetrically, a underwater propeller 4 respectively it is arranged with in the both sides of main cylinder 1, in the middle part of underwater propeller 4, outside is provided with propeller side shaft 14, and it is internal that underwater propeller side shaft 14 stretches into main cylinder 1 by the endoporus of lid 13 through walls.Described computer under water 8 is moved so that balancing weight moves forward or backward by step motor drive plate 10 drive stepping motor.
Shown in body Fig. 3, described underwater propeller 4 complements each other to form watertight inner chamber by motor cylinder 15, bonnet 16 and protecgulum 17；Watertight inner cavity has drive motor 18, drive motor 18 to drive the ducted propeller 19 of rear end to rotate, and forms thrust, and drive motor 18 is connected to motor and drives plate 9；The end face of propeller side shaft 14 and the end face of lid through walls 13 adopt O RunddichtringO to seal.
Shown in coalition Fig. 4, described driving device 20 is motor, and the output shaft connection wire rod 30 of described motor 20 drive screw mandrel 30 to rotate；Described balancing weight 12 be set on screw mandrel 30 with screw mandrel formed coordinates, the rotation of screw mandrel is converted into balancing weight 12 along screw mandrel 30 moving forward and backward.
Shown in Fig. 4, the above-mentioned control method from the submersible that inclines is:
By making balancing weight 12 move forward and backward, change the position of centre of gravity from the submersible that inclines, owing to the profile of the submersible that certainly inclines is constant thus ensureing that buoyancy centre of buoyancy is constant, so that the change of submersible generation trim angle；
When submersible is without trim, underwater propeller is responsible for advance and horizontal plane turns to, use as vertical pusher when submersible trim to ± 90 degree, it is responsible for vertical drop dive and floating, when submersible trim is within the scope of 0 to ± 90 degree, thrust is each responsible for motor-driven motor-driven accordingly at the component of horizontal plane and vertical.
Please in conjunction with shown in Fig. 5, Fig. 5 is the control block diagram of submersible in the present invention.Mainly being made up of the operation control terminal of submersible body under water and the water surface, centre is connected by umbilical cables.The rocking bar of operation control terminal or push button signalling pass through through serial communication and compunication under water after water surface computer is changed, and computer is according to control signal drive motor and steering wheel under water, it is achieved the manipulation of submersible.Electronic gyroscope, the signal such as depth gauge is by reaching water surface computer through umbilical cables after computer acquisition under water, and camera signals is directly uploaded to water surface computer through umbilical cables, is shown by display after water surface computer disposal.
It addition, the concrete methods of realizing of the present invention and approach are a lot, the above is only the preferred embodiment of the present invention.It should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.The all available prior art of each ingredient not clear and definite in the present embodiment is realized.
Claims (7)
1. the submersible that certainly inclines, it is characterised in that include pressure-resistant cabin, be installed on the underwater propeller (4) of both sides, pressure storehouse, the driving device (18) being arranged in pressure-resistant cabin and balancing weight (12)；Described driving device (20) drives balancing weight (12) movable in pressure-resistant cabin.
2. according to claim 1 from inclining submersible, it is characterised in that: described driving device (20) is motor, and the output shaft connection wire rod (30) of described motor drive screw mandrel to rotate；Described balancing weight (12) is set in upper the formation with screw mandrel of screw mandrel (30) and coordinates, and the rotation of screw mandrel is converted into balancing weight (12) moving forward and backward along screw mandrel (30).
3. according to claim 2 from inclining submersible, it is characterized in that: equipment mounting platform (6) is set inside described pressure-resistant cabin, equipment mounting platform (6) front portion arranges video camera (7), interior setting computer under water (8) of mounting platform (6), video camera (7) and under water computer (8) are by umbilical cables and PERCOM peripheral communication；Equipment mounting platform (6) arranges drive motor and drives plate (9), rear portion arranges step motor drive plate (10), and drive motor drives plate (9) and step motor drive plate (10) to connect computer (8) under water by control line；Described computer under water (8) is moved so that balancing weight moves forward or backward by step motor drive plate (10) drive stepping motor.
4. according to claim 3 from inclining submersible, it is characterised in that: described pressure-resistant cabin includes main cylinder (1) and is enclosed in the front and rear cover (2) of main cylinder rear and front end；Main cylinder (1) centre position each side set a lid through walls (13) symmetrically, described underwater propeller (4) outside is provided with propeller side shaft (14), and it is internal that underwater propeller side shaft (14) stretches into main cylinder (1) by the endoporus of lid through walls (13)；Two underwater propellers (4) are fixed on main cylinder (1) both sides, thrust axis parallel with main cylinder (1) cylinder axis and in the same plane in.
5. according to claim 4 from inclining submersible, it is characterised in that: described underwater propeller (4) complements each other to form watertight inner chamber by motor cylinder (15), bonnet (16) and protecgulum (17)；Watertight inner cavity has drive motor (18), and drive motor (18) drives the ducted propeller (19) of rear end to rotate, and forms thrust, and drive motor (18) is connected to motor and drives plate (9)；The end face of propeller side shaft (14) and the end face of lid through walls (13) adopt O RunddichtringO to seal.
6. want the submersible that certainly inclines described in 5 according to right, it is characterized in that: described main cylinder (1) adopts engineering plastics or aluminium alloy to make, front and rear cover (2) adopts transparent material to make so that video camera (7) has sight line, sets O RunddichtringO in the junction of main cylinder (1) and front and rear cover (2).
7. from the control method of the submersible that inclines according to any one of claim 1 to 6, it is characterised in that:
By making balancing weight (12) move forward and backward, change the position of centre of gravity from the submersible that inclines, owing to the profile of the submersible that certainly inclines is constant thus ensureing that buoyancy centre of buoyancy is constant, so that the change of submersible generation trim angle；
When submersible is without trim, underwater propeller is responsible for advance and horizontal plane turns to, use as vertical pusher when submersible trim to ± 90 degree, it is responsible for vertical drop dive and floating, when submersible trim is within the scope of 0 to ± 90 degree, thrust is each responsible for motor-driven motor-driven accordingly at the component of horizontal plane and vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610104898.6A CN105752301A (en) | 2016-02-25 | 2016-02-25 | Self-inclination submersing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610104898.6A CN105752301A (en) | 2016-02-25 | 2016-02-25 | Self-inclination submersing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105752301A true CN105752301A (en) | 2016-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610104898.6A Pending CN105752301A (en) | 2016-02-25 | 2016-02-25 | Self-inclination submersing device |
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| Country | Link |
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| CN (1) | CN105752301A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542071A (en) * | 2016-11-28 | 2017-03-29 | 哈尔滨工程大学 | Buoyancy and attitude balancer and control method for long voyage AUV |
| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN109080797A (en) * | 2018-08-16 | 2018-12-25 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot device for being convenient for adjusting gravity and buoyancy |
| CN109213185A (en) * | 2018-11-19 | 2019-01-15 | 深圳市吉影科技有限公司 | One kind six pushes away underwater unmanned plane lateral translation control method and device |
| CN113002744A (en) * | 2021-03-09 | 2021-06-22 | 鹏城实验室 | Four-rotor underwater vehicle |
| CN115195963A (en) * | 2022-07-12 | 2022-10-18 | 江苏科技大学 | Submerged body emergency floating experimental device and working method |
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| CN204568036U (en) * | 2014-12-31 | 2015-08-19 | 青岛海山海洋装备有限公司 | A kind of autonomous underwater vehicle under water stablized lower submersible device and there is this device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542071A (en) * | 2016-11-28 | 2017-03-29 | 哈尔滨工程大学 | Buoyancy and attitude balancer and control method for long voyage AUV |
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| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN109080797A (en) * | 2018-08-16 | 2018-12-25 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater robot device for being convenient for adjusting gravity and buoyancy |
| CN109080797B (en) * | 2018-08-16 | 2020-12-08 | 新沂市锡沂高新材料产业技术研究院有限公司 | Device convenient for adjusting gravity and buoyancy for underwater robot |
| CN109213185A (en) * | 2018-11-19 | 2019-01-15 | 深圳市吉影科技有限公司 | One kind six pushes away underwater unmanned plane lateral translation control method and device |
| CN109213185B (en) * | 2018-11-19 | 2021-07-20 | 深圳市吉影科技有限公司 | Lateral translation control method and device for six-push underwater unmanned aerial vehicle |
| CN113002744A (en) * | 2021-03-09 | 2021-06-22 | 鹏城实验室 | Four-rotor underwater vehicle |
| CN115195963A (en) * | 2022-07-12 | 2022-10-18 | 江苏科技大学 | Submerged body emergency floating experimental device and working method |
| CN115195963B (en) * | 2022-07-12 | 2023-07-21 | 江苏科技大学 | Submerged emergency floating experiment device and working method |
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Application publication date: 20160713 |