CN107021195A - Culvert type unmanned submersible - Google Patents
Culvert type unmanned submersible Download PDFInfo
- Publication number
- CN107021195A CN107021195A CN201710257063.9A CN201710257063A CN107021195A CN 107021195 A CN107021195 A CN 107021195A CN 201710257063 A CN201710257063 A CN 201710257063A CN 107021195 A CN107021195 A CN 107021195A
- Authority
- CN
- China
- Prior art keywords
- duct
- housing
- main
- submersible
- culvert type
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The invention belongs to ROV technical field of diving under water, more particularly to a kind of culvert type submersible.Culvert type unmanned submersible, it includes：Housing, main propelling machinery, load cabin and trailing cable；Housing is provided with main duct along its axis direction, and sidewall symmetry is provided with driftage control duct before one group, rear driftage control duct；The injection blade for automatically adjusting rotating speed is equipped with preceding driftage control duct and rear driftage control duct；The present invention is changed the line of production raw main driving force based on positive snail oar, reverse snail oar in main duct inward turning, avoid reaction torque effect, submersible is set to produce the side-thrust of different shunting proportionings by several control duct gesture stability power of side simultaneously, so that track navigation of the submersible by operation, or control posture deflection.The present invention is suitable for the underwater environment of complex condition, has good adaptability to fishing net winding and sharp underwater obstacle, various operation modules are attached in load storehouse, can carry out Acoustic Object and imitate torpedo, submarine etc..
Description
Technical field
The invention belongs to ROV technical field of diving under water, more particularly to a kind of culvert type submersible.
Background technology
Submersible is the movable diving outfit with underwater observation and work capacity, is mainly used to perform investigation under water, sea
The tasks such as bottom exploration, sea bed exploitation and salvaging, lifesaving；General submersible uses axle propulsion mode, and one is drawn from main thruster
The main cardan shaft of root length length, is passed from pressure hull, drives the propeller of ship tail.Prominent main cardan shaft outside and ship tail
The rotation of propeller causes submersible easily to scrape the objects such as immersed body and fishing net；And the diving depth of submersible is also to lean on
The power of blade is aided in change diving depth, depth of diving service speed is slower, it is impossible to the various spies of fast target under complete simulation water
Property.
The content of the invention
The purpose of the present invention is：A kind of ring culvert type unmanned submersible for the condition under water for being suitable for complexity is provided, it has
Have water droplet it is streamlined quickly propel and dive function allow its have it is special be good at, changed under controllable high speed water
Emulation Acoustic Object is possibly realized.
The technical scheme is that：Culvert type unmanned submersible, it includes：Housing, main propelling machinery, load cabin with
And trailing cable；
Housing is streamlined structure, and main duct is provided with along its axis direction；Provided with front support beam and rear branch in main duct
Support beam；The sidewall symmetry of housing is provided with driftage control duct before one group, rear driftage control duct；It is preceding driftage control duct and after
The injection blade for automatically adjusting rotating speed is equipped with driftage control duct；
Main propelling machinery is arranged in main duct, and it includes：Motor, the driving in driving motor output shaft
Gear and reverse gear, the positive snail oar engaged with drive gear, the reverse snail oar engaged with reverse gear；
Load cabin to be arranged on front support beam, head leans out housing；
Trailing cable is connected with the battery compartment in housing, and motor, injection blade are controlled.
Beneficial effect：The load cabin of the present invention is arranged on housing front portion, is not made an uproar by rear portion duct current noise and transmission
The influence of sound；Main propelling machinery is arranged in the main duct of housing, reduces many wake flow phenomenons produced during underwater navigation
And reduce potential faults；The difference that the posture under water of the present invention can be set according to the injection blade that can each automatically adjust rotating speed
Rotating speed changes；The resistance that streamlined shell is produced under water is small, can fast approaching target, simulate various Acoustic Objects played the part of for
The simulation objectives such as required fish, torpedo, submarine, its pump injection wake flow is even more all kinds of Acoustic Object height emulation of simulation, also can machine
Device hand operation module quickly realizes that troubleshooting is operated under water.
Brief description of the drawings
Fig. 1 is structure diagram of the invention.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Referring to accompanying drawing, culvert type unmanned submersible, it includes：Housing 4, main propelling machinery, load cabin 8 and towing electricity
Cable 1；
Housing 4 is streamlined structure, and main duct 15 is provided with along its axis direction；In main duct 15 provided with front support beam 10 with
And rear support beam 12；The sidewall symmetry of housing 4 is provided with driftage control duct 6 before one group, rear driftage control duct 14；Preceding driftage control
The injection blade for automatically adjusting rotating speed is equipped with duct 6 processed and rear driftage control duct 14；
Main propelling machinery is arranged in main duct 15, and it includes：Motor 9, on the output shaft of motor 9
Drive gear 5 and reverse gear 3, the positive snail oar 11 engaged with drive gear 5, the reverse snail oar engaged with reverse gear 3
13；
Load cabin 8 to be arranged on front support beam 10, head leans out housing 4；
Trailing cable 1 is connected with the battery compartment in housing 4, and motor 9, injection blade is controlled, order diving
Device possesses the function of remote control.
The present invention is changed the line of production raw main driving force based on two positive snail oars 11, reverse snail oar 13 in the main inward turning of duct 15, with this
Reaction torque effect is avoided, while making submersible produce different shuntings by several control duct gesture stability power of side
The side-thrust of proportioning so that submersible is navigated by water by the track operated, or control posture deflection, its wake flow produced is even more to simulate respectively
The optimal emulation of class Acoustic Object.
In such scheme, motor 9 can use magneto.Due to being provided with main propelling machinery of the present invention,
Submersible appearance can also be utilized to driftage control duct with the quick dive of plumbness and is changed into horizontal attitude realization at a slow speed
Dive, so as to reach quick dive and at a slow speed the cruise work pattern being combined of dive, to adapt to various different occasions
Demand.
Further, to reduce the turbulence effect that positive snail oar 5 is produced, rear support beam 12 is provided with water conservancy diversion rudder face, and this is first
Secondary use flow deflector so that the efficiency that the turbulent flow that positive snail oar 11 is produced starches 13 to reverse snail is improved, this is driving in water
Efficiency increases the best approach significantly.
Further, for ease of installing pay(useful) load, load cabin 8 is provided with the hemispherical hatchcover being easy to open, and it is installed additional
Load can realize that modularization is constituted.Underwater sound simulator can realize hair orientation forward, can also simulate sound wave to side hair,
It can also replace and carry out underwater operation for manipulator.
To sum up, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. culvert type unmanned submersible, it is characterised in that：It includes：Housing (4), main propelling machinery, load cabin and are dragged at (8)
Drag cable (1)；
The housing (4) is streamlined structure, and main duct (15) is provided with along its axis direction；Before being provided with the main duct (15)
Support beam (10) and rear support beam (12)；The sidewall symmetry of the housing (4) be provided with one group before driftage control duct (6), after
Driftage control duct (14)；It is equipped with automatically in driftage control duct (14) after driftage controls duct (6) and be described before described
Adjust the injection blade of rotating speed；
The main propelling machinery is arranged in the main duct (15), and it includes：Motor (9), installed in it is described driving electricity
Drive gear (5) and reverse gear (3) on machine (9) output shaft, the positive snail oar engaged with the drive gear (5)
(11) the reverse snail oar (13), engaged with the reverse gear (3)；
The load cabin (8) is arranged on the front support beam (10), and head leans out the housing (4)；
The trailing cable (1) is connected with the battery compartment in the housing (4), and to the motor (9), the injection oar
Leaf is controlled.
2. culvert type unmanned submersible as claimed in claim 1, it is characterised in that：The motor (9) uses Permanent Magnet and Electric
Machine.
3. culvert type unmanned submersible as claimed in claim 1 or 2, it is characterised in that：The rear support beam (12) is provided with and led
Stream interface.
4. culvert type unmanned submersible as claimed in claim 1 or 2, it is characterised in that：The load cabin (8) is provided with hemisphere
Shape hatchcover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257063.9A CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257063.9A CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107021195A true CN107021195A (en) | 2017-08-08 |
| CN107021195B CN107021195B (en) | 2018-09-18 |
Family
ID=59527134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710257063.9A Active CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107021195B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230919A (en) * | 2022-06-14 | 2022-10-25 | 青岛黄海学院 | Large ship rollover underwater life detection device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3967573A (en) * | 1974-08-01 | 1976-07-06 | Etat Francais Represente Par Le Delegue Ministeriel Pour L'armement | Apparatus for stabilizing underwater devices |
| CN1153731A (en) * | 1996-11-25 | 1997-07-09 | 冯庆军 | Propeller type submersible ship |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
-
2017
- 2017-04-19 CN CN201710257063.9A patent/CN107021195B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3967573A (en) * | 1974-08-01 | 1976-07-06 | Etat Francais Represente Par Le Delegue Ministeriel Pour L'armement | Apparatus for stabilizing underwater devices |
| CN1153731A (en) * | 1996-11-25 | 1997-07-09 | 冯庆军 | Propeller type submersible ship |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230919A (en) * | 2022-06-14 | 2022-10-25 | 青岛黄海学院 | Large ship rollover underwater life detection device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107021195B (en) | 2018-09-18 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190304 Address after: 100081 91823, 9th floor, 683 Building, No. 5 South Street, Zhongguancun, Haidian District, Beijing Patentee after: Beijing science and technology servo technology Co., Ltd. Address before: Room 506, Zone C, Business Development Park, 69 Jinye Road, Xi'an High-tech Zone, Shaanxi Province, 710077 Patentee before: Xi'an storm Technology Co. Ltd. |