CN109524756B - Underwater autonomous folding antenna - Google Patents
Underwater autonomous folding antenna Download PDFInfo
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- CN109524756B CN109524756B CN201710839564.8A CN201710839564A CN109524756B CN 109524756 B CN109524756 B CN 109524756B CN 201710839564 A CN201710839564 A CN 201710839564A CN 109524756 B CN109524756 B CN 109524756B
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- end cover
- base
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- shaft
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- 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
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- 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
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Abstract
The invention relates to the technical field of underwater vehicle communication, in particular to an underwater autonomous folding antenna which comprises an antenna assembly, an electronic cabin, a base, a driving mechanism and a base, wherein the base and the driving mechanism are arranged on the base, a rotating shaft is arranged in the base and is driven to rotate by the driving mechanism, the electronic cabin is connected with the base and is driven to swing by the rotating shaft, the antenna assembly is arranged at one end, far away from the base, of the electronic cabin, an electronic pressure switch is arranged on the electronic cabin, and the driving mechanism controls starting and stopping through the electronic pressure switch. When communication is not needed, the antenna assembly is laid down in the underwater vehicle and erected again when communication is needed, navigation resistance of the underwater vehicle is effectively reduced, the antenna assembly is prevented from being impacted, and unnecessary energy loss is reduced.
Description
Technical Field
The invention relates to the technical field of underwater vehicle communication, in particular to an underwater autonomous folding antenna.
Background
An iridium antenna, a radio antenna and a strobe light are important components of an autonomous underwater vehicle and are of great importance to position indication, water surface communication, recovery and the like of the vehicle. If the iridium satellite antenna, the radio antenna and the strobe lamp are arranged in the aircraft, the signal receiving strength is affected and even the signal receiving is invalid, for example, the signal receiving is invalid under the conditions that sea storms are large, the aircraft is severely fluctuated on the water surface, the antenna is submerged in the water surface and the like, so that the iridium satellite antenna and the like in the prior art are all arranged outside the underwater aircraft and have a certain height. On the other hand, when the antenna and the like are independently fixed outside the aircraft, the aircraft generates large resistance when navigating underwater, the antenna and the like are damaged due to the fact that water flow impacts the antenna and the like for a long time, communication is affected, after the aircraft is submerged, communication is not performed on the ship because signals sent by the antenna and the like cannot be received, the antenna and the like still send signals to work, the limited energy of the underwater aircraft is consumed, and unnecessary energy loss is caused. In conclusion, how to effectively reduce the attachments of the autonomous underwater vehicle, reduce the navigation resistance, ensure the normal receiving and use of the iridium antenna, the radio antenna and the strobe light, reduce unnecessary energy consumption and become the problem to be solved by the overall design of the autonomous underwater vehicle.
Disclosure of Invention
The invention aims to provide an underwater autonomous folding antenna, wherein when communication is not needed, an antenna assembly is laid down in an underwater vehicle and erected again when communication is needed, so that the navigation resistance of the underwater vehicle is effectively reduced, the antenna assembly is prevented from being impacted, and unnecessary energy loss is reduced.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an autonomic folding antenna under water, includes antenna module, electron cabin, frame, actuating mechanism and base, frame and actuating mechanism all set up in on the base be equipped with the rotation axis in the frame, just the rotation axis passes through actuating mechanism drive is rotatory, the electron cabin with the frame links to each other, just the electron cabin passes through rotation axis drive swing, antenna module install the electron cabin is kept away from base one end be equipped with electron pressure switch on the electron cabin, actuating mechanism passes through electron pressure switch control opens and stops.
The driving mechanism comprises a driving device, a worm and a worm wheel, wherein the worm is driven to rotate by the driving device, the worm wheel is meshed with the worm, and the worm wheel is fixedly arranged on the rotating shaft.
The outer side of the machine base is fixedly provided with a driving device shell, the driving device is arranged in the driving device shell, the worm and the worm wheel are both arranged in the machine base, and one end, far away from the machine base, of the driving device shell is provided with a wire connector.
The drive device shell is far away from frame one end is equipped with a casing end cover, the wire terminal set up in the casing end cover, just the wire terminal with be threaded connection between the casing end cover with be equipped with first sealing washer between the drive device shell.
The driving device comprises a driving device shell and a base, wherein a second sealing ring is arranged between the driving device shell and the base, a worm is arranged at the bottom of the base, one end of the worm, which is far away from the driving device shell, is provided with a worm end cover, and a third sealing ring is arranged between the worm end cover and the outer wall of the base.
The engine base comprises an engine base shell, a rotating end cover and an end cover, wherein the rotating end cover and the end cover are fixedly arranged at two ends of the engine base shell respectively, a rotating bearing is arranged in the engine base shell, the rotating shaft main body is supported by the rotating bearing, and the worm wheel are arranged between the rotating bearing and the end cover.
A first shaft end check ring is arranged on the rotating shaft, a second shaft end check ring is arranged in the engine base shell, and the rotating bearing is limited by the first shaft end check ring and the second shaft end check ring; the inner side of the shaft end cover is provided with a shaft end bearing, and one end part of the rotating shaft arranged in the machine base is supported by the shaft end bearing; a fourth sealing ring is arranged between the rotating end cover and the rotating shaft, a fifth sealing ring is arranged between the rotating end cover and the machine base shell, a sixth sealing ring is arranged between the shaft end cover and the machine base shell, and an adjusting gasket is arranged between the worm wheel and the shaft end cover.
One end of the rotating shaft extends out of the machine base and is connected with one side of the electronic cabin through a driving arm, a supporting arm is arranged on the other side of the machine base, and the free end of the supporting arm is hinged with the other side of the electronic cabin.
The two ends of the machine base are respectively provided with a rotating end cover and a shaft end cover, the rotating shaft penetrates through the rotating end cover and then is fixedly connected with the driving arm, and the end part of the supporting arm is sleeved on the shaft end cover.
The electronic cabin is provided with an electric wire adapter and an electronic pressure switch, and a probe of the electronic pressure switch is positioned outside the electronic cabin.
The invention has the advantages and positive effects that:
1. the invention drives the iridium antenna, the radio antenna and the strobe lamp to rotate through the worm gear motor, and because the worm gear has strong self-locking property, when the iridium antenna, the radio antenna and the strobe lamp reach the vertical or horizontal state, the inherent state can be well kept without using a limit locking device.
2. When communication is not needed, the iridium antenna, the radio antenna and the strobe light can lie down inside the underwater vehicle, the navigation resistance of the underwater vehicle can be effectively reduced, and the iridium antenna, the radio antenna and the strobe light can be prevented from being impacted and damaged in the navigation process.
3. According to the invention, the electronic pressure switch is arranged in the base to control the power on and off of the iridium antenna, the radio antenna, the strobe light and the worm gear motor, when communication is not needed underwater, the antenna and the like are in a power off state, the pressure of the antenna and the like floating out of the water surface is reduced, the electronic pressure switch is triggered, and the antenna, the worm gear motor and the like are powered on to work, so that the energy of the aircraft is effectively saved.
Drawings
Figure 1 is a schematic view of the present invention,
figure 2 is a cross-sectional view of the housing of figure 1,
fig. 3 is a cross-sectional view of the drive mechanism of fig. 1.
The electronic module comprises an iridium antenna 1, a radio antenna 2, a strobe light 3, an electronic cabin 4, a wire adapter 41, an electronic cabin shell 42, an electronic pressure switch 43, a base 5, a rotating shaft 51, a fourth seal ring 52, a rotating end cover 53, a first shaft end check ring 54, a base shell 55, a sixth seal ring 56, a shaft end cover 57, an adjusting gasket 58, a shaft end bearing 59, a second shaft end check ring 510, a rotating bearing 511, a fifth seal ring 512, an active arm 6, a support arm 7, a driving mechanism 8, a shell end cover 81, a driving device shell 82, a motor 83, a reducer 84, a worm 85, a worm gear 86, a third seal ring 87, an end cover worm 88, a first seal ring 89, a worm bearing 810, a second seal ring 811, a wire connector 9 and a base 10.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the electronic device comprises an antenna assembly, an electronic cabin 4, a base 5, a driving mechanism 8 and a base 10, wherein the base 5 and the driving mechanism 8 are both arranged on the base 10, a rotating shaft 51 is arranged in the base 5, the rotating shaft 51 is driven to rotate by the driving mechanism 8, the electronic cabin 4 is connected with the base 5, the electronic cabin 4 is driven to swing by the rotating shaft 51, the antenna assembly is mounted at one end of the electronic cabin 4, which is far away from the base 10, and as shown in fig. 1, the antenna assembly comprises an iridium antenna 1, a radio antenna 2 and a strobe light 3.
As shown in fig. 2 to 3, the driving mechanism 8 includes a driving device, a worm 85 and a worm wheel 86, wherein the worm 85 is driven to rotate by the driving device, the worm wheel 86 is engaged with the worm 85, and the worm wheel 86 is fixedly mounted on the rotating shaft 51.
As shown in fig. 1 to 3, a driving device housing 82 is fixedly disposed on the outer side of the base 5, the driving device is disposed in the driving device housing 82, the worm 85 and the worm wheel 86 are both disposed in the base 5, and an output shaft of the driving device is fixedly connected to the worm 85.
As shown in fig. 3, in this embodiment, the driving device includes a motor 83 and a speed reducer 84, the motor 83 is fixedly connected to the speed reducer 84, an output shaft of the speed reducer 84 is fixedly connected to the worm 85, an electric wire connector 9 is disposed at an end of the driving device housing 82 away from the base 5, an electric wire of the motor 83 is connected to other control cabin and the battery cabin through the electric wire connector 9, and the electric wire connector 9 is known in the art.
As shown in fig. 3, a housing end cover 81 is disposed at an end of the driving device housing 82 away from the base 5, the wire connector 9 is disposed in the housing end cover 81, the wire connector 9 is in threaded connection with the housing end cover 81, a first sealing ring 89 is disposed between the housing end cover 81 and the driving device housing 82, and a second sealing ring 811 is disposed between the driving device housing 82 and the base 5.
As shown in fig. 3, the worm 85 is disposed at the bottom of the housing 5, and both ends of the worm 85 are respectively supported by worm bearings 810, a worm end cover 88 is disposed at an end of the worm 85 away from the driving device housing 82, the worm end cover 88 is mounted on the housing 5, and a third sealing ring 87 is disposed between the worm end cover 88 and the outer wall of the housing 5.
As shown in fig. 1 to 2, one end of the rotating shaft 51 extends out of the housing 5 and is connected to one side of the electronic module 4 through a driving arm 6, a supporting arm 7 is disposed on the other side of the housing 5, and a free end of the supporting arm 7 is hinged to the other side of the electronic module 4.
As shown in fig. 2, the housing 5 includes a housing 55, a rotary end cap 53 and a shaft end cap 57, the rotary end cap 53 and the shaft end cap 57 are respectively mounted on both ends of the housing 55 by screws, wherein a rotary shaft 51 is fixedly connected to the driving arm 6 after passing through the rotary end cap 53, an end of the support arm 7 is sleeved on the shaft end cap 57, a rotary bearing 511 is provided in the housing 55, a main body of the rotary shaft 51 is supported by the rotary bearing 511, a shaft end bearing 59 is provided inside the shaft end cap 57, one end of the rotary shaft 51 disposed in the housing 5 is supported by the shaft end bearing 59, the worm 85 and the worm wheel 86 are provided between the rotary bearing 511 and the shaft end cap 57, and an adjusting shim 58 is provided between the worm wheel 86 and the shaft end cap 57.
As shown in fig. 2, a first shaft end retainer 54 is provided on the rotary shaft 51, a second shaft end retainer 510 is provided in the housing 55, and the rotary bearing 511 is retained by the first shaft end retainer 54 and the second shaft end retainer 510. A fourth seal ring 52 is provided between the rotation end cover 53 and the rotation shaft 51, a fifth seal ring 512 is provided between the rotation end cover 53 and the housing 55, and a sixth seal ring 56 is provided between the shaft end cover 57 and the housing 55.
As shown in fig. 1, an electric wire adapter 41 and an electronic pressure switch 43 are arranged on an electronic cabin shell 42, electric wires of an iridium antenna 1, a radio antenna 2, a strobe light 3 and the electronic pressure switch 43 are connected with other control cabins and battery cabins through the electric wire adapter 41, a probe of the electronic pressure switch 43 is located outside the electronic cabin shell 42 and used for sensing external water pressure change, and the electric wire adapter 41 and the electronic pressure switch 43 are well known in the art.
The working principle of the invention is as follows:
before the underwater vehicle enters water, the antenna assemblies are all in a vertical state as shown in fig. 1, at the moment, the iridium antenna 1, the radio antenna 2 and the strobe light 3 are all in a working state, as the underwater vehicle submerges to a submergence depth is continuously increased, when a probe of the electronic pressure switch 43 senses pressure and reaches a trigger value, the electronic pressure switch 43 is triggered, the iridium antenna 1, the radio antenna 2 and the strobe light 3 are powered off and stop working, the driving mechanism 8 is powered on and is in a working state, at the moment, the motor 83 starts to work to drive the speed reducer 84 to rotate, further drive the worm 85 to rotate, the worm 85 drives the worm wheel 86 to rotate, the worm wheel 86 drives the rotating shaft 51 to rotate, one end of the rotating shaft 51 extends out of the machine base 5 and is fixedly connected with the driving arm 6 through a screw, the driving arm 6 is driven to rotate through the rotating shaft 51, further drive the electronic cabin 4 and, The radio antenna 2 and the strobe light 3 rotate together, when the radio antenna 2 and the strobe light 3 rotate for a certain stroke, the motor 83 stops working and does not rotate any more, and at the moment, the iridium antenna 1, the radio antenna 2, the strobe light 3 and the electronic cabin 4 are in a horizontal state and are positioned inside an underwater vehicle.
The iridium antenna 1, the radio antenna 2 and the strobe light 3 are in an inoperative state in the floating process of the underwater vehicle, along with the continuous increase of the floating distance, the probe of the electronic pressure switch 43 senses that the pressure reaches a trigger value, the electronic pressure switch 43 triggers, the iridium antenna 1, the radio antenna 2 and the strobe light 3 are electrified to start working, meanwhile, the driving mechanism 8 is also in a working state, but the rotation direction of the motor 83 is opposite to that of the submergence process, and the driving antenna assembly is erected.
Because the worm gear has good self-locking performance and high strength, when the antenna assembly is in a vertical state, the invention can well resist the impact of underwater organisms or sea waves and the like, and a complex limiting and fixing mechanism is omitted.
Claims (8)
1. An autonomous underwater folding antenna, characterized in that: the electronic module comprises an antenna assembly, an electronic cabin (4), a machine base (5), a driving mechanism (8) and a base (10), wherein the machine base (5) and the driving mechanism (8) are arranged on the base (10), a rotating shaft (51) is arranged in the machine base (5), the rotating shaft (51) is driven to rotate through the driving mechanism (8), the electronic cabin (4) is connected with the machine base (5), the electronic cabin (4) is driven to swing through the rotating shaft (51), the antenna assembly is installed at one end, far away from the base (10), of the electronic cabin (4), an electronic pressure switch (43) is arranged on the electronic cabin (4), the antenna assembly is triggered to control power on and off through the electronic pressure switch (43), and the driving mechanism (8) is triggered to control starting through the electronic pressure switch (43);
the driving mechanism (8) comprises a driving device, a worm (85) and a worm wheel (86), wherein the worm (85) is driven to rotate by the driving device, the worm wheel (86) is meshed with the worm (85), and the worm wheel (86) is fixedly arranged on the rotating shaft (51);
one end of the rotating shaft (51) extends out of the machine base (5) and is connected with one side of the electronic cabin (4) through a driving arm (6), a supporting arm (7) is arranged on the other side of the machine base (5), and the free end of the supporting arm (7) is hinged with the other side of the electronic cabin (4).
2. The underwater autonomous folding antenna of claim 1, characterized in that: the outer side of the machine base (5) is fixedly provided with a driving device shell (82), the driving device is arranged in the driving device shell (82), the worm (85) and the worm wheel (86) are arranged in the machine base (5), and one end, far away from the machine base (5), of the driving device shell (82) is provided with a wire connector (9).
3. The underwater autonomous folding antenna of claim 2, characterized in that: keep away from drive arrangement casing (82) frame (5) one end is equipped with one casing end cover (81), wire joint (9) set up in casing end cover (81), just wire joint (9) with be threaded connection between casing end cover (81) with be equipped with first sealing washer (89) between drive arrangement casing (82).
4. The underwater autonomous folding antenna of claim 2, characterized in that: drive arrangement casing (82) with be equipped with second sealing washer (811) between frame (5), worm (85) set up in frame (5) bottom, just worm (85) are kept away from drive arrangement casing (82) one end is equipped with worm end cover (88) with be equipped with third sealing washer (87) between frame (5) outer wall.
5. The underwater autonomous folding antenna of claim 1 or 2, characterized in that: the engine base (5) comprises an engine base shell (55), a rotating end cover (53) and an end cover (57), wherein the rotating end cover (53) and the end cover (57) are fixedly arranged at two ends of the engine base shell (55), a rotating bearing (511) is arranged in the engine base shell (55), a main body of the rotating shaft (51) is supported by the rotating bearing (511), and a worm (85) and a worm wheel (86) are arranged between the rotating bearing (511) and the end cover (57).
6. The underwater autonomous folding antenna of claim 5, characterized in that: a first shaft end retaining ring (54) is arranged on the rotating shaft (51), a second shaft end retaining ring (510) is arranged in the engine base shell (55), and the rotating bearing (511) is limited by the first shaft end retaining ring (54) and the second shaft end retaining ring (510); the inner side of the shaft end cover (57) is provided with a shaft end bearing (59), and one end part of the rotating shaft (51) arranged in the base (5) is supported by the shaft end bearing (59); a fourth sealing ring (52) is arranged between the rotating end cover (53) and the rotating shaft (51), a fifth sealing ring (512) is arranged between the rotating end cover (53) and the machine base shell (55), a sixth sealing ring (56) is arranged between the shaft end cover (57) and the machine base shell (55), and an adjusting gasket (58) is arranged between the worm wheel (86) and the shaft end cover (57).
7. The underwater autonomous folding antenna of claim 1, characterized in that: the two ends of the machine base (5) are respectively provided with a rotating end cover (53) and a shaft end cover (57), the rotating shaft (51) penetrates through the rotating end cover (53) and then is fixedly connected with the driving arm (6), and the end part of the supporting arm (7) is sleeved on the shaft end cover (57).
8. The underwater autonomous folding antenna of claim 1, characterized in that: the electronic cabin (4) is provided with an electric wire adapter (41) and an electronic pressure switch (43), and a probe of the electronic pressure switch (43) is positioned outside the electronic cabin (4).
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 CN109524756A (en) | 2019-03-26 |
| CN109524756B true CN109524756B (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710839564.8A Active CN109524756B (en) | 2017-09-18 | 2017-09-18 | Underwater autonomous folding antenna |
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| Country | Link |
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| CN (1) | CN109524756B (en) |
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| CN112693584B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Optical monitoring system based on underwater mast |
| CN112606982B (en) * | 2020-12-24 | 2022-09-30 | 北京华航无线电测量研究所 | Communication system based on underwater mast |
| CN112660350B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Submersible vehicle hidden monitoring method based on retractable mast |
| CN112722223B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Retractable invisible mast |
| CN112678114B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Underwater mast |
| CN112606978B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Comprehensive mast system |
| CN112606979B (en) * | 2020-12-24 | 2022-09-30 | 北京华航无线电测量研究所 | Power-off self-locking method for turnover type underwater mast |
| CN112623166B (en) * | 2020-12-24 | 2022-09-30 | 北京华航无线电测量研究所 | Can accomodate stealthy mast of formula |
| CN112678135B (en) * | 2020-12-24 | 2022-10-04 | 北京华航无线电测量研究所 | Underwater mast structure |
| CN112623167B (en) * | 2020-12-24 | 2022-09-30 | 北京华航无线电测量研究所 | Can accomodate stealthy mast of formula |
| CN115603027B (en) * | 2022-10-31 | 2023-06-30 | 浙江东溟科技有限公司 | Underwater swinging type folding antenna device |
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| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303449B (en) * | 2013-05-30 | 2015-11-11 | 河北工业大学 | A kind of under-water operation robot |
| CN104635225B (en) * | 2015-01-16 | 2017-06-06 | 庆安集团有限公司 | A kind of unpowered sonar launches retracting device |
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2017
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Patent Citations (5)
| 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 |
| 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 |
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| CN109524756A (en) | 2019-03-26 |
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