CN108974293A - A kind of underwater vehicle - Google Patents
A kind of underwater vehicle Download PDFInfo
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- CN108974293A CN108974293A CN201810564943.5A CN201810564943A CN108974293A CN 108974293 A CN108974293 A CN 108974293A CN 201810564943 A CN201810564943 A CN 201810564943A CN 108974293 A CN108974293 A CN 108974293A
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- submariner device
- propeller
- cabin
- vertical
- underwater vehicle
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The present invention relates to submariner device correlative technology fields, disclose a kind of underwater vehicle, including shell and the empennage for being connected to shell tail portion, propeller, control cabinet and camera shooting cabin are provided in shell, wherein, propeller includes at least two vertical propellers and two horizontal propellers, and vertical propeller is distributed in the front-end and back-end of submariner device, and horizontal propeller is set to the two sides of submariner device longitudinal axis.Vertical propeller by being arranged in the rear and front end of submariner device by the present invention, submariner device with realizing steadily depth-keeping navigation and standard of fuselage vertical displacement movement can not only be made, and the realization of submariner device can be made to carry out steadily horizontal travel under pitch attitude, the kinetic stability of submariner device is improved while improving the kinematic dexterity of submariner device, make submariner device that can carry out freely stable observation in complicated underwater environment, to increase the acquisition angles of image, the shooting quality of image is improved.
Description
Technical field
The present invention relates to submariner device correlative technology field more particularly to a kind of underwater vehicles.
Background technique
Underwater vehicle refers to the unmanned diving outfit by remote control or self-contained program's control, mainly has underwater see
Survey the function with underwater operation.Usual underwater vehicle needs to realize the movement of fuselage by the propeller in fuselage.Under water
Submariner device generally has horizontal propeller and vertical propeller, and horizontal propeller mainly controls the advance of submariner device, retreats and turn
To vertical propeller mainly controls up and down, depthkeeping and the pitching movement of submariner device.The vertical propeller of existing submariner device
It is generally disposed at one end of submariner device fuselage, since the other end of submariner device fuselage lacks control, so existing vertical propulsion
The arrangement of device can not achieve submariner device steadily depth-keeping navigation and standard of fuselage ground vertical displacement movement, can not realize
Steadily horizontal travel under pitch attitude, the freedom of motion of submariner device is small, and mobility is poor, and flexibility is not high, stability
Difference cannot be well adapted for complicated underwater environment and carry out freely stable observation to underwater environment, so as to cause image
Acquisition angles it is less, image definition is poor.
Summary of the invention
Based on the above, the purpose of the present invention is to provide a kind of underwater vehicles, to solve existing underwater vehicle
Existing above-mentioned technical problem.
In order to achieve the above-mentioned object of the invention, the invention adopts the following technical scheme:
A kind of underwater vehicle, including shell are provided with propeller in the shell；
The propeller includes at least two vertical propellers and two horizontal propellers, described at least two vertical propulsions
Device is distributed in the front-end and back-end of submariner device, and described two horizontal propellers are distributed in the two sides of submariner device longitudinal axis.
Further, the vertical propeller includes fixing seat, first motor and the first propeller, and the fixing seat is fixed
In in the shell, the first motor is fixed in the fixing seat, and first propeller is defeated with the first motor
Shaft is connected.
Further, the quantity of the vertical propeller is two, and two vertical propellers are symmetricly set on submariner
The front-end and back-end of device longitudinal axis center of mass point.
It further, further include control cabinet, the control cabinet is arranged along the longitudinal axis of the submariner device.
Further, further include the camera shooting cabin for being connected to the control cabinet front end, the camera shooting cabin include cabin head, cabin neck and
Cabin tail, the cabin head are connect with the front end of shell, and the cabin tail is connect with the control cabinet, and the diameter of the cabin neck is less than described
The diameter of cabin head and cabin tail.
Further, the vertical propeller of the submariner device longitudinal axis line front end is set, the camera shooting cabin is passed perpendicularly through, and
U-shaped card slot is offered in the fixing seat of the vertical propeller, for matching with the cabin neck in the camera shooting cabin, and forms institute
State the runner of vertical propeller.
Further, the quantity of the vertical propeller is three, and vertical propeller described in two of them is arranged symmetrically in
The left and right sides of submariner device longitudinal axis and the front end for being located at the submariner device longitudinal axis, another described vertical propeller arrangement
Rear end on the longitudinal axis of the submariner device and positioned at the submariner device longitudinal axis.
Further, the shell includes upper housing and lower case, and the tail portion of the upper housing and lower case is equipped with streamline
Type vertical fins, the upper housing and the lower case are interconnected to form chamber, the surface of the upper housing and the lower case
It is provided with multiple open-works.
It further, further include empennage, the empennage includes horizontal stabilier and pod, the horizontal stabilier inserting
In the shell tail portion, the pod is correspondingly arranged with the horizontal propeller.
It further, further include gravity adjusting device, the gravity adjusting device is removable installed on shell.
It further, further include buoyancy compartment, the buoyancy compartment is parallel to the longitudinal axis setting of the submariner device and position
In the left and right sides of the control cabinet.
Beneficial effects of the present invention:
Vertical propeller by being arranged in the front-end and back-end of submariner device by the present invention, on the one hand, can make submariner device machine
Body rear and front end remains horizontal in navigation, to be vertically moved up or down fortune with realizing steadily depth-keeping navigation and standard of fuselage
It is dynamic, improve the stability of submariner device horizontal movement；On the other hand, submariner device can be made when carrying out pitching movement before fuselage
Rear end remains certain inclination angle, and fuselage is made steadily to be moved forward and backward under pitch attitude, to realize fuselage
Steadily horizontal travel under pitch attitude, improves the stability of submariner device pitching movement.In addition, by the way that two are promoted vertically
Device is arranged in the left and right sides of submariner device longitudinal axis, and the left and right sides of submariner device is enable to be controlled better, and prevents submariner device
Left and right lateral inclination occurs, improves the stability of submariner device or so heel.The present invention is in the freedom of motion for increasing submariner device
Degree and flexibility while, improve the kinetic stability of submariner device, to make submariner device can be into complicated underwater environment
Row is steadily shot freely, is increased the acquisition angles of image, is improved the shooting quality of image.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also implement according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic diagram for the underwater vehicle that the embodiment of the present invention one provides；
Fig. 2 is the explosive view for the underwater vehicle that the embodiment of the present invention one provides；
Fig. 3 is the schematic diagram of internal structure for the underwater vehicle that the embodiment of the present invention one provides；
Fig. 4 is the schematic diagram for underwater vehicle horizontal movement under pitch attitude that the embodiment of the present invention one provides, in figure
The direction of motion of arrow expression submariner device；
Fig. 5 is the cross-sectional view for the underwater vehicle that the embodiment of the present invention one provides；
Fig. 6 is underwater vehicle structural schematic diagram provided by Embodiment 2 of the present invention.
In figure:
1- shell；11- upper housing；12- lower case；13- vertical fins；14- open-work；
2- empennage；The horizontal stabilier of 21-；22- pod；
3- propeller；The vertical propeller of 31-；311- fixing seat；312- first motor；The first propeller of 313-；32- is horizontal
Propeller；The second motor of 321-；The second propeller of 322-；323- damping portion；
4- control cabinet；
5- images cabin；The cabin 51- head；The cabin 52- neck；The cabin 53- tail；
6- gravity adjusting device；
7- buoyancy compartment；
8- watertight connector；
9- light compensating apparatus.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment one
A kind of underwater vehicle is present embodiments provided, as Figure 1-Figure 5, including the components such as shell 1 and propeller 3.
Wherein shell 1 includes upper housing 11 and lower case 12, and upper housing 11 and lower case 12 are all made of airflow design, 11 He of upper housing
The tail portion of lower case 12 is equipped with streamlined vertical fins 13, meets fluid mechanics principle, is conducive to reduce submariner device in navigation
The resistance being subject to, upper housing 11 and lower case 12 are interconnected to form chamber, and the chamber is the other component of underwater vehicle
Accommodating space is provided.
The surface of shell 1 is provided with multiple open-works 14 in the present embodiment, shell 1 is designed as to the form of blow-by, water
The buoyancy of lower submariner device is provided by the control cabinet of 1 inner sealing of shell, camera shooting cabin, buoyancy compartment, so as to avoid making within the case 1
With pressure-resistant material, on the one hand such design method reduces the weight and volume of submariner device, has saved cost of manufacture, improves
The flexibility of submariner device itself；On the other hand, it due to 1 blow-by of shell, does not need to bear biggish pressure under deep water, thus
It connects and improves the voltage endurance capability of submariner device, increase the submerged depth of submariner device.In addition, being arranged on the surface of submariner device shell 1
Multiple open-works 14, can promote exhaust efficiency, and the air in shell 1 can quickly be discharged when entering water when submariner device, enable submariner device
It quickly completes and makees into underwater shunt running.
Propeller 3 includes at least two vertical propellers 31 and two horizontal propellers 32, and above-mentioned at least two push away vertically
The front-end and back-end of submariner device are distributed in into device 31, above-mentioned two horizontal propeller 32 is distributed in the two sides of submariner device longitudinal axis.
As shown in Figures 2 and 3, vertical propeller 31 includes fixing seat 311, first motor 312 and the first propeller 313,
Fixing seat 311 is fixed in shell 1, and first motor 312 is fixed in fixing seat 311, the first propeller 313 and first motor
312 output shaft is connected.Horizontal propeller 32 includes the second motor 321, the second propeller 322 and damping portion 323, the second electricity
Machine 321 is fixed in submariner device shell 1 and is connected by output shaft with the second propeller 322, and damping portion 323 is sheathed on second
On 321 output shaft of motor, between the second motor 321 and the second propeller 322.By in the second motor 321 and the second spiral shell
It revolves and damping portion 323 is set between paddle 322, motor can be prevented to be subjected to displacement in the running because of vibration, avoid the vibration of motor
The operation of submariner device is had an impact, the kinetic stability of submariner device is improved, while reducing motor because what vibration generated makes an uproar
Sound extends the service life of motor.First motor 312 used in the present embodiment and the second motor 321 are underwater electricity
Machine does not need to add capsul outside motor, to reduce the weight of submariner device entirety.
Specifically, vertical propeller 31 and horizontal propeller 32 are disposed as two in the present embodiment, such as Fig. 1-Fig. 3 institute
Show, two vertical propellers 31 are symmetricly set on the front-end and back-end of submariner device longitudinal axis center of mass point, two horizontal propellers 32
It is symmetrically disposed on the left and right sides of submariner device longitudinal axis line back end.
Two vertical propellers 31 by being symmetricly set on the front end of submariner device longitudinal axis center of mass point with after by the present embodiment
End, on the one hand, submariner device fuselage rear and front end can be made to remain horizontal when horizontally or vertically navigating by water, to realize steady
Surely depth-keeping navigation and standard of fuselage ground vertical displacement movement, improves the stability of submariner device horizontal movement；On the other hand, may be used
So that submariner device rear and front end of fuselage when carrying out pitching movement remains certain inclination angle, as shown in figure 4, fuselage is made to exist
It is steadily moved forward and backward under pitch attitude, to realize under body pitching posture steadily horizontal travel, is improved
The stability of submariner device pitching movement.The arrangement of such vertical propeller 31, in the flexibility for improving the movement of submariner device
While improve the stability of submariner device movement and improve to make submariner device that can carry out freely stable shooting under water
The shooting quality of image.
Two horizontal propellers 32 are symmetrically disposed on to the left and right sides of submariner device longitudinal axis line back end, not only in the present embodiment
The movement such as advance, retrogressing and steering of submariner device is realized, and ensure that the stability promoted at left and right sides of submariner device.
In order to further increase the stability of submariner device horizontal motion, the tail portion of submariner device is provided with empennage 2, tail
The wing 2 includes horizontal stabilier 21 and pod 22.Horizontal stabilier 21 can be plugged in the tail portion of submariner device, and horizontal stabilier
21 are equipped with screw hole, and horizontal stabilier 21 can be fixed behind the tail portion for being plugged in submariner device by screw.Above-mentioned horizontal current stabilization
Plate 21 is plugged in the tail portion of submariner device and matches with screw hole, so that empennage 2 is on the basis of convenient disassembly in the present embodiment
It can be fixed on the tail portion of submariner device strongerly.Setting by the horizontal stabilier 21 in tail portion and vertical fins 13 in the present embodiment
Meter makes fuselage in line navigation and steering, has lesser resistance and preferable stability.There are two the settings of pod 22,
Two pods 22 are individually fixed in the two sides of horizontal 21 length direction of stabilier, promote with the level of submariner device longitudinal axis line back end
Device 32 is correspondingly arranged, and is covered on the outside of the propeller of horizontal propeller 32.The setting of pod 22 in the present embodiment is guaranteeing water
The water conservancy diversion to horizontal propeller 32 can also be realized on the basis of lower submariner device operation stability, improve propulsive efficiency.Pod
22 it is fixed with horizontal stabilier 21 while, be also connected by screw to shell 1, further increase the stability of structure.
Longitudinally direction is provided with control cabinet 4 and camera shooting cabin 5 inside the shell 1 of submariner device, as shown in figure 5, control cabinet 4
In tubular, imaging cabin 5 includes cabin head 51, cabin neck 52 and cabin tail 53, and cabin head 51 is connect with the front end of shell 1, cabin tail 53 and institute
The connection of control cabinet 4 is stated, the diameter of cabin neck 52 is less than the diameter of cabin head 51 and cabin tail 53.
Specifically, the vertical propeller 31 of submariner device longitudinal axis line front end is set, passes perpendicularly through camera shooting cabin 5, and push away vertically
U-shaped card slot is offered on into the fixing seat 311 of device 31, for matching with the cabin neck 52 in camera shooting cabin 5, and forms vertical promote
The runner of device 31.The fixing seat 311 of vertical propeller 31 includes upper fixed seat and lower fixed seat two parts in the present embodiment, upper solid
Reservation is fixed in upper housing 11, and lower fixed seat and lower case 12 are integrally formed, and vertical propeller 31 is fixed in upper fixed seat,
The U-shaped card slot of upper fixed seat and lower fixed seat matches the runner to form vertical propeller 31 with the cabin neck 52 in camera shooting cabin 5, improves
Propulsive efficiency.
In other embodiments, when vertical propeller 31 does not need to pass perpendicularly through camera shooting cabin 5, the cabin neck 52 in cabin 5 is imaged
Diameter can be not less than cabin head 51 or the diameter of cabin tail 53, while U-shaped card can not be opened up in the fixing seat 311 of vertical propeller 31
Slot.
Control cabinet 4 is internally provided with control unit and battery unit, and connect with the watertight for being located at 11 middle part of upper housing
Device 8 is attached.The control to submariner device is realized by control unit, is provided power by battery unit for submariner device, is passed through
Watertight connector 8 transmits the information in control cabinet 4, and charges to battery unit.It will control list in the present embodiment
Member and battery unit are set to the inside of control cabinet 4, keep submariner device overall structure more compact, reduce the volume of submariner device.
Specifically, control unit can be such that submariner device realizes manually, from steady and three kinds of motor patterns of depthkeeping.Manual mode
Under, control unit can be realized the control to single or multiple propellers 3, and submariner device is made to complete various movements；From under steady mode,
The electronic compass and accelerometer and control unit carried by fuselage makes fuselage exist the linkage control of multiple propellers 3
It can remain horizontal when navigation, realize the horizontal travel under constant-bearing navigation and pitch attitude；Under depthkeeping mode, pass through carrying
Depth transducer and linkage control to multiple propellers 3, so that fuselage is kept constant depth in navigation.
Control cabinet 4 is set as tubular in the present embodiment, and the voltage endurance capability of tubular control cabinet 4 is higher, is guaranteeing equally
Voltage endurance capability under, the wall thickness of tubular control cabinet 4 can be thinned, so that the weight of control cabinet 4 is reduced, in 4 body of control cabinet
In the case that product is certain, the reduction of 4 weight of control cabinet, which is equivalent to, increases buoyancy provided by control cabinet 4.Before control cabinet 4
The connection of cabin tail 53 at end and camera shooting cabin 5 forms airtight chamber, buoyancy can be provided for submariner device, certainly, in order to promote the close of cabin
Closing property guarantees control cabinet 4 and images the stability of signal transmission between cabin 5, simplifies installation process, control cabinet 4 and camera shooting cabin 5
It can be integrally formed, form a closed in space.
The density of different waters water is different, and buoyancy suffered by submariner device is different, is difficult the requirement for making submariner device reach neutral buoyancy,
That is the weight of submariner device and buoyancy is unequal.If neutral buoyancy requirement cannot be reached, underwater vehicle can be made to be extremely difficult to from steady
State has an impact hovering in water, and in order to make submariner device be suitable for different waters, submariner device is additionally provided with gravity adjustment dress
6 are set, gravity adjusting device 6 is removable installed on shell 1.The present embodiment is real by carrying out in the waters of different densities
It tests, calculates underwater vehicle and reach the difference weight mended needed for neutral buoyancy requirement, be required difference by adjusting gravity adjusting device 6
Weight, makes gravity and buoyant equilibrium, realizes the requirement of neutral buoyancy in the waters of different densities, solve in different waters due to close
Spend it is different lead to the problem of buoyancy difference kinetic energy loss caused by underwater vehicle, improve the self-stability of submariner device.Specifically,
The gravity adjusting device 6 of the present embodiment is counterweight box, can be connected by screw in the bottom of submariner device lower case 12.Pass through
Screw fixed weight box, makes counterweight box convenient disassembly, and convenient for carrying out weight adjustment to counterweight box, counterweight box is connected to lower case
12 bottom is conducive to improve the static stability of submariner device.
In order to provide bigger buoyancy, submariner device is additionally provided with buoyancy compartment 7, and specifically, buoyancy compartment 7 is tubular, setting
There are two, buoyancy compartment 7 is set to the two sides of submariner device control cabinet 4 and is parallel to submariner device longitudinal axis.It will in the present embodiment
Buoyancy compartment 7 is set as tubular, improves the voltage endurance capability of buoyancy compartment 7, reduces the weight of buoyancy compartment 7.In other embodiments
In, it can be also not provided with buoyancy compartment 7, buoyancy needed for only providing submariner device as tubular control cabinet 4.
In order to improve the shooting quality of image, the front end of buoyancy compartment 7 is provided with light compensating apparatus 9, for providing shooting image
Required brightness.
By to shell 1, empennage 2, propeller 3, control cabinet 4, camera shooting cabin 5, gravity adjusting device 6, floating in the present embodiment
The calculating of the center of gravity and centre of buoyancy of power cabin 7 and other component, each device position of reasonable layout, makes fuselage weight be evenly distributed, no
The use of buoyant material can be only reduced, and submariner device can be made in water there is preferable static stability, even if promoting
When device 3 does not work, submariner device is also able to maintain standard of fuselage.
Embodiment two
As shown in fig. 6, the present embodiment provides another submariner device device, in place of the difference of the present embodiment and embodiment one
It is, the quantity of vertical propeller 31 is different with setting position.
In the present embodiment, vertical propeller 31 is set as three, and the vertical propeller 31 of two of them is arranged symmetrically in latent
The left and right sides of boat device longitudinal axis and the front end for being located at submariner device longitudinal axis, another vertical propeller 31 are arranged in submariner device
Longitudinal axis on and be located at submariner device longitudinal axis rear end.
By the way that two vertical propellers 31 to be arranged symmetrically in the left and right sides of submariner device longitudinal axis, be conducive to submariner device
The left and right sides can be controlled better, and prevent submariner device from left and right lateral inclination occurs, and promote the stabilization of submariner device or so heel
Property.By the rear and front end that three vertical propellers 31 are arranged in submariner device, on the one hand, can make two before and after submariner device fuselage
End remains horizontal in navigation, so that with realizing steadily depth-keeping navigation and standard of fuselage vertical displacement movement, is promoted
The stability of submariner device horizontal movement；On the other hand, the front and back end of submariner device fuselage when carrying out pitching movement can be made to begin
Certain inclination angle is kept eventually, so that fuselage is steadily moved forward and backward under pitch attitude, to realize body pitching appearance
Steadily horizontal travel under state, improves the stability of submariner device pitching movement.
The arrangement of vertical propeller 31 not only increases the flexibility of submariner device movement in the present embodiment and level rises
Drop and the stability of pitching movement, and the stability of submariner device or so heel is improved, so that submariner device be made to move and clap
Take the photograph more stable when image, the further shooting quality for promoting image.
In other embodiments, two vertical propellers 31 can be also arranged symmetrically in the left and right sides of submariner device longitudinal axis
And it is located at the rear end of submariner device longitudinal axis, another vertical propeller 31 is arranged on the longitudinal axis of submariner device and is located at submariner
The position of the front end of device longitudinal axis, horizontal propeller 32 is correspondingly adjusted according to the position of vertical propeller 31.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of underwater vehicle, including shell (1), which is characterized in that it is provided with propeller (3) in the shell (1), it is described
Propeller (3) includes at least two vertical propellers (31) and two horizontal propellers (32)；
At least two vertical propeller (31) is distributed in the front-end and back-end of submariner device, described two horizontal propellers (32)
It is distributed in the two sides of submariner device longitudinal axis.
2. underwater vehicle according to claim 1, which is characterized in that the vertical propeller (31) includes fixing seat
(311), first motor (312) and the first propeller (313), the fixing seat (311) is fixed in the shell (1), described
First motor (312) is fixed in the fixing seat (311), first propeller (313) and the first motor (312)
Output shaft is connected.
3. underwater vehicle according to claim 2, which is characterized in that the quantity of the vertical propeller (31) is two
A, two vertical propellers (31) are symmetricly set on the front-end and back-end of submariner device longitudinal axis center of mass point.
4. underwater vehicle according to claim 3, which is characterized in that it further include control cabinet (4), the control cabinet (4)
Longitudinal axis along the submariner device is arranged.
5. underwater vehicle according to claim 4, which is characterized in that further include being connected to the control cabinet (4) front end
Camera shooting cabin (5), the camera shooting cabin (5) includes cabin head (51), cabin neck (52) and cabin tail (53), the cabin head (51) and the shell
The front end of body (1) connects, and the cabin tail (53) connect with the control cabinet (4), and the diameter of the cabin neck (52) is less than the cabin
The diameter of head (51) and the cabin tail (53).
6. underwater vehicle according to claim 5, which is characterized in that the described perpendicular of submariner device longitudinal axis line front end is arranged in
Straight propeller (31), passes perpendicularly through the camera shooting cabin (5), opens up in the fixing seat (311) of the vertical propeller (31)
There is U-shaped card slot, for matching with the cabin neck (52) of camera shooting cabin (5), and forms the vertical propeller (31)
Runner.
7. underwater vehicle according to claim 1, which is characterized in that the quantity of the vertical propeller (31) is three
A, vertical propeller (31) described in two of them is arranged symmetrically in the left and right sides of submariner device longitudinal axis and is located at the submariner device
The front end of longitudinal axis, another described vertical propeller (31) are arranged on the longitudinal axis of the submariner device and are located at described latent
The rear end of boat device longitudinal axis.
8. underwater vehicle according to claim 1, which is characterized in that the shell (1) include upper housing (11) and under
The tail portion of shell (12), the upper housing (11) and lower case (12) is equipped with streamlined vertical fins (13), the upper housing (11)
Chamber is interconnected to form with the lower case (12), and the surface of the upper housing (11) and the lower case (12) is provided with more
A open-work (14).
9. underwater vehicle according to claim 1, which is characterized in that further include empennage (2), the empennage (2) includes
Horizontal stabilier (21) and pod (22), the horizontal stabilier (21) are plugged in the shell (1) tail portion, the pod
(22) it is correspondingly arranged with the horizontal propeller (32).
10. underwater vehicle according to claim 1, which is characterized in that it further include gravity adjusting device (6), it is described heavy
Force adjusting device (6) is removable installed on shell (1).
11. underwater vehicle according to claim 4, which is characterized in that it further include buoyancy compartment (7), the buoyancy compartment (7)
It is parallel to the longitudinal axis setting of the submariner device and is located at the left and right sides of the control cabinet (4).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564943.5A CN108974293A (en) | 2018-06-04 | 2018-06-04 | A kind of underwater vehicle |
| PCT/CN2019/089596 WO2019233351A1 (en) | 2018-06-04 | 2019-05-31 | Underwater vehicle |
| CN201910482430.4A CN110040229A (en) | 2018-06-04 | 2019-06-04 | A kind of underwater vehicle |
| CN201920834195.8U CN210310836U (en) | 2018-06-04 | 2019-06-04 | Underwater submerging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564943.5A CN108974293A (en) | 2018-06-04 | 2018-06-04 | A kind of underwater vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108974293A true CN108974293A (en) | 2018-12-11 |
Family
ID=64540006
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564943.5A Pending CN108974293A (en) | 2018-06-04 | 2018-06-04 | A kind of underwater vehicle |
| CN201910482430.4A Pending CN110040229A (en) | 2018-06-04 | 2019-06-04 | A kind of underwater vehicle |
| CN201920834195.8U Active CN210310836U (en) | 2018-06-04 | 2019-06-04 | Underwater submerging device |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910482430.4A Pending CN110040229A (en) | 2018-06-04 | 2019-06-04 | A kind of underwater vehicle |
| CN201920834195.8U Active CN210310836U (en) | 2018-06-04 | 2019-06-04 | Underwater submerging device |
Country Status (2)
| Country | Link |
|---|---|
| CN (3) | CN108974293A (en) |
| WO (1) | WO2019233351A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109895939A (en) * | 2018-12-14 | 2019-06-18 | 上海海事大学 | Vault shell cabin self-saving manned underwater vehicle |
| WO2019233351A1 (en) * | 2018-06-04 | 2019-12-12 | 深圳潜行创新科技有限公司 | Underwater vehicle |
| CN110641659A (en) * | 2019-10-18 | 2020-01-03 | 江苏科技大学 | Ocean monitoring robot capable of avoiding wind waves |
| CN111232167A (en) * | 2020-01-08 | 2020-06-05 | 深圳潜行创新科技有限公司 | Full-freedom underwater vehicle and control method thereof |
| CN111483577A (en) * | 2020-05-15 | 2020-08-04 | 上海海洋大学 | Full-sea-depth operation type unmanned submersible |
| CN111660742A (en) * | 2020-06-12 | 2020-09-15 | 广东工业大学 | Multi-rotor amphibious unmanned aerial vehicle |
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- 2019-06-04 CN CN201910482430.4A patent/CN110040229A/en active Pending
- 2019-06-04 CN CN201920834195.8U patent/CN210310836U/en active Active
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Also Published As
| Publication number | Publication date |
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| CN210310836U (en) | 2020-04-14 |
| CN110040229A (en) | 2019-07-23 |
| WO2019233351A1 (en) | 2019-12-12 |
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Application publication date: 20181211 |