CN109524756A - Underwater autonomous folded antenna - Google Patents
Underwater autonomous folded antenna Download PDFInfo
- Publication number
- CN109524756A CN109524756A CN201710839564.8A CN201710839564A CN109524756A CN 109524756 A CN109524756 A CN 109524756A CN 201710839564 A CN201710839564 A CN 201710839564A CN 109524756 A CN109524756 A CN 109524756A
- Authority
- CN
- China
- Prior art keywords
- base
- end cap
- shaft
- rotary shaft
- driving device
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/04—Adaptation for subterranean or subaqueous use
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
Landscapes
- Details Of Aerials (AREA)
Abstract
The present invention relates to submarine navigation device fields of communication technology, specifically a kind of underwater autonomous folded antenna, including antenna module, electronic compartment, base, driving mechanism and pedestal, the base and driving mechanism are all arranged on the base, rotary shaft is equipped in the base, and the rotary shaft is driven by the driving mechanism and is rotated, the electronic compartment is connected with the base, and the electronic compartment is driven by the rotary shaft and is swung, antenna module is mounted on the electronic compartment far from described pedestal one end, electron pressure switch is equipped on the electronic compartment, the driving mechanism controls start and stop by the electron pressure switch.The present invention when not needing to communicate, drop to the ground inside aircraft by antenna module, holds up again when needing to communicate, and has both effectively reduced submarine navigation device ship resistance, antenna module is avoided to be hit, and decreases unnecessary energy loss.
Description
Technical field
The present invention relates to submarine navigation device field of communication technology, specifically a kind of underwater autonomous folded antenna.
Background technique
Iridium satellite antenna, wireless aerial, stroboscopic lamp are the important components of Autonomous Underwater Vehicle, and aircraft is shown
Position, water surface communication, recycling etc. are most important.If iridium satellite antenna, wireless aerial, stroboscopic lamp are placed in inside aircraft, meeting
It influences signal receiving strength even to fail, for example at sea stormy waves is larger, and aircraft is the water surface acutely rises and falls, antenna does not have upstream face
Situations such as middle, can all cause signal to receive failure, therefore iridium satellite antenna etc. is installed in outside submarine navigation device in the prior art,
And there is certain altitude.But then, when antenna etc. is individually fixed on outside aircraft, meeting when aircraft is navigated by water under water
Biggish resistance is generated, and devices, the antenna etc. such as impact antenna may be damaged and influence to communicate water flow for a long time, and
And after aircraft pulls the plug, because the signal that can not receive the sending of the devices such as antenna will be communicated no longer on ship, however antenna
Equal devices are still sending out signal work, this will consume the limited energy of submarine navigation device, and the unnecessary energy is caused to damage
It loses.In conclusion how to effectively reduce the attached body of aircraft, reduce ship resistance, and guarantee iridium satellite antenna, wireless aerial, frequency
Flashing light normally receives use, reduces unnecessary energy loss, becomes what Autonomous Underwater Vehicle master-plan needed to solve
Problem.
Summary of the invention
The purpose of the present invention is to provide a kind of underwater autonomous folded antennas, when not needing to be communicated, antenna module
Drop to the ground inside aircraft, holded up again when needing to communicate, both effectively reduced submarine navigation device ship resistance, avoid antenna module by
To shock, unnecessary energy loss is decreased.
The purpose of the present invention is achieved through the following technical solutions:
A kind of underwater autonomous folded antenna, including antenna module, electronic compartment, base, driving mechanism and pedestal, the base
It is all arranged on the base with driving mechanism, rotary shaft is equipped in the base, and the rotary shaft passes through the driving
Mechanism driving rotation, the electronic compartment are connected with the base, and the electronic compartment is driven by the rotary shaft and swung, antenna
Component is mounted on the electronic compartment far from described pedestal one end, and electron pressure switch, the driving are equipped on the electronic compartment
Mechanism controls start and stop by the electron pressure switch.
The driving mechanism includes driving device, worm and worm wheel, wherein the worm screw is driven by the driving device
Rotation, the worm gear is engaged with the worm screw, and the worm gear is installed in the rotary shaft.
Side is installed with a driving device shell outside the frame, and the driving device is set to the driving device shell
In body, the worm and worm wheel are all set in the base, are equipped in the driving device shell far from described base one end
Power lug.
It is equipped with a housing end plug far from described base one end in the driving device shell, the power lug is set to
In the housing end plug, and to be threadedly coupled between the power lug and the housing end plug, in the housing end plug and institute
It states and is equipped with the first sealing ring between driving device shell.
The second sealing ring is equipped between the driving device shell and the base, the worm screw is set to the base
Bottom, and it is equipped with worm screw end cap far from driving device shell one end in the worm screw, in the worm screw end cap and the machine
Third sealing ring is equipped between seat outer wall.
The base includes frame shell, rotating end cap and shaft end end cap, and the rotating end cap and shaft end end cap are solid respectively
Loaded on the frame shell both ends, swivel bearing is equipped in the frame shell, the rotary axis body passes through the rotation
Bearing bearing, is equipped with the worm and worm wheel between the swivel bearing and the shaft end end cap.
It is equipped with the first shaft end ring in the rotary shaft, the second shaft end ring is equipped in the frame shell, it is described
Swivel bearing is limited by first shaft end ring and the second shaft end ring；Shaft end axis is equipped on the inside of the shaft end end cap
It holds, one end end that the rotary shaft is placed in base is supported by the axle end bearing；In the rotating end cap and the rotation
It is equipped with the 4th sealing ring between shaft, the 5th sealing ring is equipped between the rotating end cap and the frame shell, described
It is equipped with the 6th sealing ring between shaft end end cap and the frame shell, adjusting pad is equipped between the worm gear and shaft end end cap
Piece.
Described rotary shaft one end extend out to outside the base and is connected by a master arm with the electronic compartment side, institute
The base other side is stated equipped with a supporting arm, and the free end of the supporting arm and the electronic compartment other side are hinged.
The base both ends are respectively equipped with rotating end cap and shaft end end cap, the rotary shaft pass through after the rotating end cap with
The master arm is connected, and the end sleeve of the supporting arm is loaded on the shaft end end cap.
Electric wire adapter and electron pressure switch, and the probe position of the electron pressure switch are equipped on the electronic compartment
Outside electronic compartment.
Advantages of the present invention and good effect are as follows:
1, the present invention drives iridium satellite antenna, wireless aerial, stroboscopic lamp rotation by worm and gear motor, due to worm gear snail
Bar has very strong self-locking performance, when iridium satellite antenna, wireless aerial, stroboscopic lamp reach setting or horizontality, it is not necessary to use limit
Position locking device, so that it may keep native mode well.
2, when not needing to be communicated, iridium satellite antenna, wireless aerial, stroboscopic lamp can drop to the ground to navigate the present invention under water
Inside row device, can effectively reduce the ship resistance of submarine navigation device, can also to avoid during navigation to iridium satellite antenna,
Wireless aerial, stroboscopic lamp occur to hit and damage.
3, the present invention is equipped with electron pressure switch control iridium satellite antenna, wireless aerial, stroboscopic lamp, worm gear in base
Endless screw electric motor power on/off, when not needing to be communicated under water, antenna etc. is in off-position, and emerging, pressure reduces,
Electron pressure switch triggering, antenna, worm and gear motor etc. are powered on, and have effectively saved the aircraft energy.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention,
Fig. 2 is the cross-sectional view of base in Fig. 1,
Fig. 3 is the cross-sectional view of driving mechanism in Fig. 1.
Wherein, 1 is iridium satellite antenna, and 2 be wireless aerial, and 3 be stroboscopic lamp, and 4 be electronic compartment, and 41 be electric wire adapter, 42
It is electron pressure switch for electronic compartment shell, 43,5 be base, and 51 be rotary shaft, and 52 be the 4th sealing ring, and 53 be rotating end cap,
54 be the first shaft end ring, and 55 be frame shell, and 56 be the 6th sealing ring, and 57 be shaft end end cap, and 58 be adjustment gasket, and 59 be axis
End bearing, 510 be the second shaft end ring, and 511 be swivel bearing, and 512 be the 5th sealing ring, and 6 be master arm, and 7 be supporting arm, 8
It is housing end plug for driving mechanism, 81,82 be driving device shell, and 83 be motor, and 84 be retarder, and 85 be worm screw, and 86 be snail
Wheel, 87 be third sealing ring, and 88 be worm screw end cap, and 89 be the first sealing ring, and 810 worm bearings, 811 be the second sealing ring, and 9 are
Power lug, 10 be pedestal.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figures 1 to 3, the present invention includes antenna module, electronic compartment 4, base 5, driving mechanism 8 and pedestal 10, described
Base 5 and driving mechanism 8 are all set on the pedestal 10, and rotary shaft 51, and the rotary shaft 51 are equipped in the base 5
It is driven and is rotated by the driving mechanism 8, the electronic compartment 4 is connected with the base 5, and the electronic compartment 4 passes through the rotation
The driving of shaft 51 is swung, and antenna module is mounted on the electronic compartment 4 far from described 10 one end of pedestal, as shown in Figure 1, the antenna
Component includes iridium satellite antenna 1, wireless aerial 2 and stroboscopic lamp 3.
As shown in figures 2-3, the driving mechanism 8 includes driving device, worm screw 85 and worm gear 86, wherein the worm screw 85
It is driven and is rotated by the driving device, the worm gear 86 is engaged with the worm screw 85, and the worm gear 86 is installed in the rotation
In shaft 51.
As shown in Figures 1 to 3, a driving device shell 82, the driving device setting are installed on the outside of the base 5
In the driving device shell 82, the worm screw 85 and worm gear 86 are all set in the base 5, and the driving device
Output shaft and the worm screw 85 are connected.
As shown in figure 3, in the present embodiment, the driving device includes motor 83 and retarder 84, the motor 83 and institute
It states retarder 84 to be connected, the output shaft of the retarder 84 and the worm screw 85 are connected, separate in the driving device shell 82
Described 5 one end of base is equipped with power lug 9, and 83 electric wire of motor passes through the power lug 9 and other control cabinets and battery flat phase
Even, the power lug 9 is techniques well known.
As shown in figure 3, being equipped with a housing end plug 81, institute far from described 5 one end of base in the driving device shell 82
It states power lug 9 to be set in the housing end plug 81, and connects between the power lug 9 and the housing end plug 81 for screw thread
It connects, the first sealing ring 89 is equipped between the housing end plug 81 and the driving device shell 82, in the driving device shell
The second sealing ring 811 is equipped between body 82 and the base 5.
As shown in figure 3, the worm screw 85 is set to 5 bottom of base, and 85 both ends of the worm screw pass through worm screw respectively
Bearing 810 supports, and is equipped with worm screw end cap 88, the worm screw end cap far from described 82 one end of driving device shell in the worm screw 85
88 are mounted on the base 5, and third sealing ring 87 is equipped between 5 outer wall of the worm screw end cap 88 and the base.
As shown in Fig. 1~2, described 51 one end of rotary shaft extend out to the base 5 it is outer and by a master arm 6 with it is described
4 side of electronic compartment is connected, and 5 other side of base is equipped with a supporting arm 7, and the free end of the supporting arm 7 and the electricity
Sub- 4 other side of cabin is hinged.
As shown in Fig. 2, the base 5 includes frame shell 55, rotating end cap 53 and shaft end end cap 57, the rotating end cap
53 and shaft end end cap 57 55 both ends of frame shell are installed on by screw respectively, wherein rotary shaft 51 pass through the round end
It is connected after lid 53 with the master arm 6, the end sleeve of the supporting arm 7 is loaded on the shaft end end cap 57, in the base shell
Swivel bearing 511 is equipped in body 55,51 main body of rotary shaft is supported by the swivel bearing 511, in the shaft end end cap
57 insides are equipped with axle end bearing 59, and the rotary shaft 51 is placed in one end in base 5 and is supported by the axle end bearing 59, in institute
It states and is equipped with the worm screw 85 and worm gear 86 between swivel bearing 511 and the shaft end end cap 57, and in the worm gear 86 and axis
It holds and is equipped with adjustment gasket 58 between end cap 57.
As shown in Fig. 2, being equipped with the first shaft end ring 54 in the rotary shaft 51, the is equipped in the frame shell 55
Two shaft end rings 510, the swivel bearing 511 are limited by first shaft end ring 54 and the second shaft end ring 510.Institute
It states and is equipped with the 4th sealing ring 52 between rotating end cap 53 and the rotary shaft 51, in the rotating end cap 53 and the frame shell
It is equipped with the 5th sealing ring 512 between 55, the 6th sealing ring 56 is equipped between the shaft end end cap 57 and the frame shell 55.
As shown in Figure 1, electric wire adapter 41 and electron pressure switch 43 are equipped on electronic compartment shell 42, iridium satellite antenna 1,
The electric wire of wireless aerial 2, stroboscopic lamp 3 and electron pressure switch 43 passes through the electric wire adapter 41 and other control cabinets and electricity
Pond cabin is connected, and the probe of the electron pressure switch 43 is located at outside electronic compartment shell 42 for perceiving external water pressure variation, institute
It states electric wire adapter 41 and electron pressure switch 43 is techniques well known.
The operation principle of the present invention is that:
Antenna module is as shown in Figure 1, be in upright state before entering water for submarine navigation device, iridium satellite antenna 1, wireless at this time
Electric antenna 2, stroboscopic lamp 3 are in working condition, are continuously increased as submarine navigation device enters water submerged depth, electron pressure switch
When 43 probe sensed pressures reach trigger value, electron pressure switch 43 is triggered, and makes iridium satellite antenna 1, wireless aerial 2, stroboscopic lamp 3
Power-off stops working, and it is in running order so that driving mechanism 8 is powered, and drives retarder 84 to revolve at this point, motor 83 is started to work
Turn, and then worm screw 85 is driven to rotate, worm screw 85 drives worm gear 86 to rotate, and worm gear 86 drives rotary shaft 51 to rotate, rotary shaft 51
One end is connected after stretching out base 5 by screw and master arm 6, and the master arm 6 is driven by the rotary shaft 51 and rotated, into
And iridium satellite antenna 1, wireless aerial 2, stroboscopic lamp 3 on electronic compartment 4 and electronic compartment 4 is driven to rotate together, when the certain row of rotation
Cheng Shi, motor 83, which stops working, to be no longer rotated, and iridium satellite antenna 1, wireless aerial 2, stroboscopic lamp 3 and electronic compartment 4 are in water at this time
Level state and be located at submarine navigation device inside.
Submarine navigation device iridium satellite antenna 1, wireless aerial 2, stroboscopic lamp 3 in floating-upward process are in off position, with
Being continuously increased for floating distance, the sensed pressure of popping one's head in of electron pressure switch 43 reach trigger value, electron pressure switch 43 triggers,
Iridium satellite antenna 1, wireless aerial 2, stroboscopic lamp 3, which are powered, starts to work, while driving mechanism 8 is also at working condition, but at this time
The direction of rotation of motor 83 and dive process is on the contrary, driving antenna module is holded up.
Since worm and gear has good self-locking performance and very high intensity, the present invention is in upright state in antenna module
When, the shock of aquatic organism or wave etc. can be resisted well, eliminate cumbersome limiting fixing mechanism.
Claims (10)
1. a kind of underwater autonomous folded antenna, it is characterised in that: including antenna module, electronic compartment (4), base (5), driving mechanism
(8) it is all set on the pedestal (10) with pedestal (10), the base (5) and driving mechanism (8), in the base (5)
Equipped with rotary shaft (51), and the rotary shaft (51) is driven by the driving mechanism (8) and is rotated, the electronic compartment (4) and institute
It states base (5) to be connected, and the electronic compartment (4) is driven by the rotary shaft (51) and swung, antenna module is mounted on the electricity
Sub- cabin (4) is equipped with electron pressure switch (43) on the electronic compartment (4), the driving machine far from the pedestal (10) one end
Structure (8) controls start and stop by the electron pressure switch (43).
2. underwater autonomous folded antenna according to claim 1, it is characterised in that: the driving mechanism (8) includes driving
Device, worm screw (85) and worm gear (86) rotate, the worm gear (86) wherein the worm screw (85) is driven by the driving device
It is engaged with the worm screw (85), and the worm gear (86) is installed on the rotary shaft (51).
3. underwater autonomous folded antenna according to claim 2, it is characterised in that: be installed on the outside of the base (5)
One driving device shell (82), the driving device are set in the driving device shell (82), the worm screw (85) and
Worm gear (86) is all set in the base (5), is equipped with electricity far from the base (5) one end in the driving device shell (82)
Wire terminal (9).
4. underwater autonomous folded antenna according to claim 3, it is characterised in that: remote in the driving device shell (82)
It is equipped with a housing end plug (81) from the base (5) one end, the power lug (9) is set to the housing end plug (81)
In, and to be threadedly coupled between the power lug (9) and the housing end plug (81), the housing end plug (81) with it is described
The first sealing ring (89) are equipped between driving device shell (82).
5. underwater autonomous folded antenna according to claim 3, it is characterised in that: the driving device shell (82) with
The second sealing ring (811) are equipped between the base (5), the worm screw (85) is set to the base (5) bottom, and described
Worm screw (85) far from described driving device shell (82) one end be equipped with worm screw end cap (88), the worm screw end cap (88) with it is described
Third sealing ring (87) are equipped between base (5) outer wall.
6. underwater autonomous folded antenna according to claim 2 or 3, it is characterised in that: the base (5) includes base shell
Body (55), rotating end cap (53) and shaft end end cap (57), the rotating end cap (53) and shaft end end cap (57) are installed in institute respectively
Frame shell (55) both ends are stated, are equipped with swivel bearing (511) in the frame shell (55), rotary shaft (51) main body is logical
The swivel bearing (511) bearing is crossed, the worm screw is equipped between the swivel bearing (511) and the shaft end end cap (57)
(85) and worm gear (86).
7. underwater autonomous folded antenna according to claim 6, it is characterised in that: be equipped with the on the rotary shaft (51)
One shaft end ring (54) is equipped with the second shaft end ring (510) in the frame shell (55), and the swivel bearing (511) is logical
Cross first shaft end ring (54) and the second shaft end ring (510) limit；Shaft end is equipped on the inside of the shaft end end cap (57)
Bearing (59), the rotary shaft (51) are placed in one end end in base (5) and are supported by the axle end bearing (59)；Described
The 4th sealing ring (52) is equipped between rotating end cap (53) and the rotary shaft (51), in the rotating end cap (53) and the machine
It is equipped with the 5th sealing ring (512) between seat shell body (55), is set between the shaft end end cap (57) and the frame shell (55)
There is the 6th sealing ring (56), adjustment gasket (58) is equipped between the worm gear (86) and shaft end end cap (57).
8. underwater autonomous folded antenna according to claim 1, it is characterised in that: described rotary shaft (51) one end is extend out to
The base (5) is connected with the electronic compartment (4) side outside and by a master arm (6), and base (5) other side is equipped with
One supporting arm (7), and the free end of the supporting arm (7) and the electronic compartment (4) other side are hinged.
9. underwater autonomous folded antenna according to claim 8, it is characterised in that: base (5) both ends are respectively equipped with
Rotating end cap (53) and shaft end end cap (57), the rotary shaft (51) pass through the rotating end cap (53) afterwards with the master arm
(6) it is connected, the end sleeve of the supporting arm (7) is loaded on the shaft end end cap (57).
10. underwater autonomous folded antenna according to claim 1, it is characterised in that: be equipped with electricity on the electronic compartment (4)
Line adapter (41) and electron pressure switch (43), and the probe of the electron pressure switch (43) is located at electronic compartment (4) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710839564.8A CN109524756B (en) | 2017-09-18 | 2017-09-18 | Underwater autonomous folding antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710839564.8A CN109524756B (en) | 2017-09-18 | 2017-09-18 | Underwater autonomous folding antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109524756A true CN109524756A (en) | 2019-03-26 |
| CN109524756B CN109524756B (en) | 2020-03-24 |
Family
ID=65768393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710839564.8A Active CN109524756B (en) | 2017-09-18 | 2017-09-18 | Underwater autonomous folding antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109524756B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606982A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Communication system based on underwater mast |
| CN112606979A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Power-off self-locking method for turnover type underwater mast |
| CN112606978A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Comprehensive mast system |
| CN112623166A (en) * | 2020-12-24 | 2021-04-09 | 北京华航无线电测量研究所 | Output shaft transmission system with retractable invisible mast |
| CN112623167A (en) * | 2020-12-24 | 2021-04-09 | 北京华航无线电测量研究所 | Pitching shaft body connecting structure capable of containing invisible mast |
| CN112660350A (en) * | 2020-12-24 | 2021-04-16 | 北京华航无线电测量研究所 | Submersible vehicle hidden monitoring method based on retractable mast |
| CN112678114A (en) * | 2020-12-24 | 2021-04-20 | 北京华航无线电测量研究所 | Sealing structure of underwater mast |
| CN112678135A (en) * | 2020-12-24 | 2021-04-20 | 北京华航无线电测量研究所 | Underwater mast structure |
| CN112693584A (en) * | 2020-12-24 | 2021-04-23 | 北京华航无线电测量研究所 | Optical monitoring system based on underwater mast |
| CN112722223A (en) * | 2020-12-24 | 2021-04-30 | 北京华航无线电测量研究所 | Double-shaft servo system capable of containing invisible mast |
| CN115603027A (en) * | 2022-10-31 | 2023-01-13 | 浙江东溟科技有限公司（Cn） | Underwater swinging type folding antenna device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0849821A3 (en) * | 1996-12-18 | 2000-08-02 | STN ATLAS Elektronik GmbH | Launch device for trailing antennas |
| EP1507311A1 (en) * | 2003-08-12 | 2005-02-16 | Howaldtswerke-Deutsche Werft Ag | Deploying device for a towed antenna or a towed cable |
| CN1704767A (en) * | 2004-05-26 | 2005-12-07 | 中国科学院沈阳自动化研究所 | underwater global positioning system receiving device |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
| CN203589222U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Iridium satellite and GPS combined antenna for underwater robot |
| CN104422935A (en) * | 2013-08-19 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Position indicator and position indicating method for marine equipment |
| CN104635225A (en) * | 2015-01-16 | 2015-05-20 | 庆安集团有限公司 | Unpowered sonar unfolding and folding device |
-
2017
- 2017-09-18 CN CN201710839564.8A patent/CN109524756B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0849821A3 (en) * | 1996-12-18 | 2000-08-02 | STN ATLAS Elektronik GmbH | Launch device for trailing antennas |
| EP1507311A1 (en) * | 2003-08-12 | 2005-02-16 | Howaldtswerke-Deutsche Werft Ag | Deploying device for a towed antenna or a towed cable |
| CN1704767A (en) * | 2004-05-26 | 2005-12-07 | 中国科学院沈阳自动化研究所 | underwater global positioning system receiving device |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
| CN104422935A (en) * | 2013-08-19 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Position indicator and position indicating method for marine equipment |
| CN203589222U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Iridium satellite and GPS combined antenna for underwater robot |
| CN104635225A (en) * | 2015-01-16 | 2015-05-20 | 庆安集团有限公司 | Unpowered sonar unfolding and folding device |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112606982A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Communication system based on underwater mast |
| CN112606979A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Power-off self-locking method for turnover type underwater mast |
| CN112606978A (en) * | 2020-12-24 | 2021-04-06 | 北京华航无线电测量研究所 | Comprehensive mast system |
| CN112623166A (en) * | 2020-12-24 | 2021-04-09 | 北京华航无线电测量研究所 | Output shaft transmission system with retractable invisible mast |
| CN112623167A (en) * | 2020-12-24 | 2021-04-09 | 北京华航无线电测量研究所 | Pitching shaft body connecting structure capable of containing invisible mast |
| CN112660350A (en) * | 2020-12-24 | 2021-04-16 | 北京华航无线电测量研究所 | Submersible vehicle hidden monitoring method based on retractable mast |
| CN112678114A (en) * | 2020-12-24 | 2021-04-20 | 北京华航无线电测量研究所 | Sealing structure of underwater mast |
| CN112678135A (en) * | 2020-12-24 | 2021-04-20 | 北京华航无线电测量研究所 | Underwater mast structure |
| CN112693584A (en) * | 2020-12-24 | 2021-04-23 | 北京华航无线电测量研究所 | Optical monitoring system based on underwater mast |
| CN112722223A (en) * | 2020-12-24 | 2021-04-30 | 北京华航无线电测量研究所 | Double-shaft servo system capable of containing invisible mast |
| CN115603027A (en) * | 2022-10-31 | 2023-01-13 | 浙江东溟科技有限公司（Cn） | Underwater swinging type folding antenna device |
| CN115603027B (en) * | 2022-10-31 | 2023-06-30 | 浙江东溟科技有限公司 | Underwater swinging type folding antenna device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109524756B (en) | 2020-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109524756A (en) | Underwater autonomous folded antenna | |
| US10953957B2 (en) | Propelling module and surfing apparatus having the same | |
| CN209506010U (en) | A kind of semi-submersible type unmanned boat suitable for high sea situation | |
| CN115042922B (en) | Ocean monitor based on self-absorption principle | |
| CN108860510A (en) | A kind of water life-saving unmanned plane and its operating method with dictyosome | |
| CN214356597U (en) | Microminiature is glider under water | |
| CN214165267U (en) | Novel unmanned navigation ware can dive | |
| CN212473855U (en) | Buoyancy-changeable seaside drowning rescue device | |
| CN109250037A (en) | A kind of flight suspending underwater glider lays recyclable device | |
| CN208119416U (en) | A kind of unmanned plane landing gear | |
| CN112623167B (en) | Can accomodate stealthy mast of formula | |
| CN113904099A (en) | Integrated multi-band combined antenna | |
| CN107664582A (en) | A kind of propeller parameter automatic testing device | |
| CN209008838U (en) | A kind of device saved oneself for underwater unmanned plane | |
| CN208842595U (en) | A kind of sea Quick rescue ship | |
| CN207809742U (en) | Underwater equipment with separate type driver | |
| CN110588921A (en) | Floating ball device and underwater robot | |
| CN214397169U (en) | Comprehensive mast system for underwater vehicle | |
| CN112623166B (en) | Can accomodate stealthy mast of formula | |
| CN205150159U (en) | Boats and ships maintenance isolated plant | |
| CN114132198B (en) | Unmanned aerial vehicle system and charging control method of unmanned aerial vehicle | |
| CN112722223B (en) | Retractable invisible mast | |
| CN220315324U (en) | Unmanned aerial vehicle capable of avoiding sinking | |
| CN112606978B (en) | Comprehensive mast system | |
| CN218594541U (en) | Underwater inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |