CN110816795B - Unmanned submersible operated by multiple degrees of freedom - Google Patents

Unmanned submersible operated by multiple degrees of freedom Download PDF

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Publication number
CN110816795B
CN110816795B CN201911198248.2A CN201911198248A CN110816795B CN 110816795 B CN110816795 B CN 110816795B CN 201911198248 A CN201911198248 A CN 201911198248A CN 110816795 B CN110816795 B CN 110816795B
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China
Prior art keywords
ring
extension pipe
shaft
rotating shaft
disposed
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CN110816795A (en
Inventor
刘军
国婧倩
陈延礼
崔军红
吴威
罗松松
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Jilin University
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Jilin University
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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Accessories Of Cameras (AREA)

Abstract

An unmanned submersible operated by multiple degrees of freedom belongs to the technical field of underwater unmanned submersible, and aims to solve the problems of large steering radius, insufficient reverse propulsion capability and underwater monitoring dead angle in the prior art. The invention comprises the following steps: a main housing; an operating manipulator arranged on the main shell; the monitoring unit is arranged on the main shell and comprises an upper illuminating lamp and an upper hemispherical camera which are arranged on the upper surface of the main shell in a staggered mode, and a lower illuminating lamp and a lower camera which are arranged on the lower surface of the main shell in a staggered mode; the propelling unit comprises a plurality of groups of spiral propelling bodies which are uniformly distributed on the side wall of the main shell in the circumferential direction; every group the spiral propulsion body includes the screw propeller who connects through connector and main casing body and drives screw propeller rotates around connector place axis and transmission unit, the axis of screw propeller with the axis of connector is perpendicular.

Description

Unmanned submersible operated by multiple degrees of freedom
Technical Field
The invention belongs to the technical field of underwater unmanned submersible, and particularly relates to an unmanned submersible operated by multiple degrees of freedom.
Background
With the development of ocean resources, ocean utilization areas are continuously expanded, and application scenes of the underwater unmanned submersible are quite rich, such as marine organism monitoring, infrastructure inspection, underwater platform observation, fishery breeding inspection, diving and shooting, yacht entertainment, fishing and the like. The unmanned submersible is suitable for a small-range sea area, but has the problems of large steering radius and insufficient reverse propulsion capacity when the attitude adjustment and the course change are realized; a camera carried by the unmanned submersible vehicle has a certain shooting coverage area, and the attitude limitation of the unmanned submersible vehicle can cause underwater monitoring dead angles.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom-operated unmanned submersible, which solves the problems of large steering radius, insufficient reverse propulsion capacity and existence of underwater monitoring dead angles in the prior art.
To achieve the above object, an unmanned submersible vehicle manipulated with multiple degrees of freedom according to the present invention includes:
a main housing;
an operating manipulator provided on the main housing;
the monitoring unit is arranged on the main shell and comprises an upper illuminating lamp and an upper hemispherical camera which are arranged on the upper surface of the main shell in a staggered mode, and a lower illuminating lamp and a lower camera which are arranged on the lower surface of the main shell in a staggered mode;
the propelling unit comprises a plurality of groups of spiral propelling bodies which are uniformly distributed on the side wall of the main shell in the circumferential direction; every group the spiral propulsion body includes the screw propeller who connects through connector and main casing body and drives screw propeller rotates around connector place axis and transmission unit, the axis of screw propeller with the axis of connector is perpendicular.
The main housing includes:
an annular pressure-resistant casing;
the upper illuminating lamp and the upper hemispherical camera are arranged on the flow guide top cover;
the base is detachably connected with the lower end of the pressure-resistant shell; the lower illuminating lamp and the lower camera are arranged on the base;
and the bottom plate is fixed on the lower end surface of the base.
The unmanned submersible vehicle further includes a channel thruster disposed on the main housing including:
a channel located in the middle of the main shell and extending from the upper end to the lower end;
a paddle disposed at one end of the pressure casing adjacent to the main casing;
and a channel motor fixed in the channel and driving the blades to rotate.
The connecting body comprises a rotating shaft, one end of the rotating shaft is fixedly connected with the side face of the outer shell of the propeller thruster, and the axis of the rotating shaft is vertical to that of the propeller thruster; the other end of the rotating shaft sequentially penetrates through the damping ball, the stationary ring end cover and the extension pipe to be connected with the power and transmission unit, and the power and transmission unit drives the rotating shaft to rotate; one end of the damping ball is in contact with a shaft shoulder of the rotating shaft, the other end of the damping ball is in contact with the stationary ring end cover, the stationary ring end cover is connected with one end of the extension pipe through a screw, and the other end of the extension pipe is in sealing connection with the extension pipe outside the pressure shell of the main shell through a sealing structure.
The power and transmission unit includes:
the transmission shaft is supported in the main shell, and one end of the transmission shaft is connected with the rotating shaft through an elastic coupling;
the lower gear is fixed at the position, close to the other end, of the transmission shaft;
an upper gear engaged with the lower gear;
and an output shaft of the driving motor is coaxially and fixedly connected with the upper gear through a speed reducer.
The power and transmission unit further includes:
the inner ring of the self-aligning ball bearing is matched with the transmission shaft, and the outer ring of the self-aligning ball bearing is matched with the inner pipe arm of the extension pipe of the pressure-resistant shell;
the first shaft sleeve is arranged between the self-aligning ball bearings;
the bearing supports are positioned on two sides of the lower gear, and each bearing support is matched with the transmission shaft through a tapered roller bearing;
a second shaft sleeve arranged between the self-aligning ball bearing and a tapered roller bearing;
and a third shaft sleeve arranged between one tapered roller bearing close to the self-aligning ball bearing and the lower gear.
The sealing structure in the sealing connection of the other end of the extension pipe and the pressure shell outer side extension pipe of the main shell through the sealing structure comprises:
the static ring is sleeved on the rotating shaft and connected to the static ring end cover through an anti-rotation pin;
the static ring sealing ring is arranged at the joint of the static ring and the static ring end cover, and the static ring is positioned in the extension pipe;
the movable ring is positioned in the extension pipe and sleeved on the rotating shaft, and one end face of the movable ring is contacted with the end face of the static ring;
the movable ring sealing ring is arranged between the movable ring and the rotating shaft;
a spring seat fixed to the rotary shaft by a set screw;
the compensating spring is positioned between the movable ring and the spring seat and is in a normal pressure state;
a connecting seal ring arranged at the joint of the extension pipe and the end part of the extension pipe of the pressure casing;
a dual resilient rotary seal disposed between the extension tube and the drive shaft;
and a felt collar disposed between the end of the extension tube and the drive shaft.
The invention has the beneficial effects that: the unmanned submersible with multiple degrees of freedom for operation has 12 degrees of freedom, six propeller propellers are uniformly arrayed on the circumference, each propeller can realize 360-degree rotary motion through shafting transmission, and the unmanned submersible can flexibly steer without turning radius in the motion process; under the multi-freedom control, the motions of heaving, bow turning, autorotation and the like can be realized, the rotating speed of the propeller is adjusted, the postures of horizontal, vertical, inclined and the like can be kept, and the underwater monitoring without dead angles is realized; the elastic vibration reduction element is adopted, so that the water flow vibration damper has certain resistance and buffering effects on water flow fluctuation and other impacts; the head and the shell adopt streamline shapes, so that the uniformity of water flow moving on the surface of the head and the shell is kept, and the water resistance is reduced; the channel propeller at the center plays a role in promoting the movement of the channel propeller, and the maneuverability is stronger; the side is equipped with the operation manipulator, satisfies the demand of underwater operation.
Drawings
FIG. 1 is a schematic perspective view of an unmanned submersible vehicle according to the present invention;
FIG. 2 is a bottom view of the present invention unmanned submersible;
FIG. 3 is a front view of the present invention unmanned submersible;
FIG. 4 is a cross-sectional view of a drive shaft assembly of the present invention in an unmanned submersible vehicle;
FIG. 5 is a schematic perspective view of the propeller of the unmanned submersible of the present invention rotated 90 degrees;
wherein: 1. a main housing, 101, a pressure housing, 102, a seal mounting ring, 103, a flow guide top cover, 104, a base, 105, a bottom plate, 2, a channel thruster, 3, an operation manipulator, 4, a monitoring unit, 401, an upper lighting lamp, 402, a lower lighting lamp, 403, an upper hemispherical camera, 404, a lower camera, 5, a propulsion unit, 501, a propeller thruster, 502, a rotating shaft, 503, a damping ball, 504, a stationary ring end cover, 505, an extension pipe, 506, an elastic coupling, 507, a transmission shaft, 508, a lower gear, 509, an upper gear, 510, a reducer, 511, a driving motor, 512, a self-aligning ball bearing, 513, a first shaft sleeve, 514, a bearing support, 515, a conical roller bearing, 516, a second shaft sleeve, 517, a third shaft sleeve, 518, a stationary ring seal ring, 519, an anti-rotation pin, 520, a stationary ring, 521, a movable ring seal ring, 522, a movable ring, 523, a compensation, Set screw 525, spring seat 526, elastic rotary sealing member 527, connecting sealing ring 528 and felt ring.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1-5, a multi-degree-of-freedom-manipulation unmanned submersible of the present invention comprises:
a main housing 1;
an operation robot 3 provided on the main casing 1;
a monitoring unit 4 disposed on the main casing 1, the monitoring unit 4 including upper illumination lamps 401 and an upper dome camera 403 alternately disposed on an upper surface of the main casing 1 and lower illumination lamps 402 and a lower camera 404 alternately disposed on a lower surface of the main casing 1;
the propelling unit 5 comprises a plurality of groups of spiral propelling bodies which are uniformly distributed on the side wall of the main shell 1 in the circumferential direction; every group the spiral propulsion body includes the screw propeller 501 who connects through connector and main casing body 1 and drives screw propeller 501 rotates around the axis at connector place power and transmission unit, the axis of screw propeller 501 with the axis of connector is perpendicular.
The controller controls the overall action and the power module provides power for the whole.
The main casing 1 includes:
an annular pressure-resistant casing 101;
a flow guide top cover 103 detachably connected to the upper end of the pressure casing 101 through a seal mounting ring 102; the upper illuminating lamp 401 and the upper hemispherical camera 403 are arranged on the flow guide top cover 103; the sealing can be realized by adopting an O-shaped sealing ring;
a base 104 detachably connected to a lower end of the pressure-resistant casing 101; the lower illuminating lamp 402 and the lower camera 404 are arranged on the base 104;
and a bottom plate 105 fixed to a lower end surface of the base 104.
The unmanned submersible vehicle further comprises a channel thruster 2 provided on the main housing 1, comprising:
a passage extending from the upper end to the lower end in the middle of the main housing 1;
paddles disposed at one end of the pressure casing 101 of the duct near the main casing 1;
and a channel motor fixed in the channel and driving the blades to rotate.
The middle of the flow guide top cover 103 is provided with a through hole so that the channel thruster 2 positioned at the center of the pressure-resistant shell 101 can operate, and the upper flower-shaped groove structure plays a role in protecting the propeller of the channel thruster 2; the channel propeller 2 can improve the propelling efficiency of the propeller and has an auxiliary effect on the movement of the unmanned submersible vehicle.
The connecting body comprises a rotating shaft 502, one end of the rotating shaft 502 is fixedly connected with the side surface of the outer shell of the propeller 501, and the axis of the rotating shaft 502 is vertical to that of the propeller 501; the other end of the rotating shaft 502 sequentially passes through a damping ball 503, a stationary ring end cover 504 and an extension pipe 505 to be connected with a power and transmission unit, and the rotating shaft 502 is driven to rotate by the power and transmission unit; one end of the damping ball 503 contacts with a shoulder of the rotating shaft 502, the other end contacts with the stationary ring end cover 504, the stationary ring end cover 504 is connected with one end of the extension pipe 505 through a screw, and the other end of the extension pipe 505 is hermetically connected with an extension pipe outside the pressure casing 101 of the main casing 1 through a sealing structure.
The power and transmission unit includes:
a drive shaft 507 supported in the main housing 1, one end of the drive shaft 507 being connected to the rotary shaft 502 through an elastic coupling 506;
a lower gear 508 fixed at a position of the transmission shaft 507 near the other end;
an upper gear 509 engaged with the lower gear 508;
and a driving motor 511, wherein an output shaft of the driving motor 511 is coaxially and fixedly connected with the upper gear 509 through a speed reducer 510.
The power and transmission unit further includes:
an inner ring of the self-aligning ball bearing 512 is matched with the transmission shaft 507, and an outer ring of the self-aligning ball bearing 512 is matched with an inner pipe arm of an extension pipe of the pressure-resistant shell 101;
a first bushing 513 disposed between the self-aligning ball bearings 512;
bearing supports 514 are arranged on two sides of the lower gear 508, and each bearing support 514 is matched with the transmission shaft 507 through a tapered roller bearing 515 for supporting;
a second bushing 516 disposed between the self-aligning ball bearing 512 and a tapered roller bearing 515;
and a third bushing 517 disposed between one of the tapered roller bearings 515 adjacent to the self-aligning ball bearing 512 and the lower gear 508.
The sealing structure in the sealing connection between the other end of the extension pipe 505 and the outside extension pipe of the pressure-resistant casing 101 of the main casing 1 through the sealing structure comprises:
a stationary ring 520 sleeved on the rotating shaft 502 and connected to the stationary ring end cover 504 through an anti-rotation pin 519;
a stationary ring seal 518 disposed at the junction of the stationary ring 520 and the stationary ring end cap 504, the stationary ring 520 being located within the extension pipe 505;
a movable ring 522 positioned in the extension pipe 505 and sleeved on the rotating shaft 502, wherein one end surface of the movable ring 522 is in contact with the end surface of the stationary ring 520;
a moving ring seal 521 provided between the moving ring 522 and the rotary shaft 502;
a spring seat 525 fixed to the rotary shaft 502 by a set screw 524;
the compensating spring 523 is positioned between the movable ring 522 and the spring seat 525, and the compensating spring 523 is in a normal pressure state;
a connection packing 527 provided at a connection point between the extension pipe 505 and an end of the extension pipe of the pressure-resistant casing 101;
a double elastic rotary seal 526 disposed between the extension pipe 505 and the drive shaft 507;
and a felt ring 528 disposed between the end of the extension pipe 505 and the drive shaft 507.
The operation manipulator 3 in the prior art is adopted as the operation manipulator 3, as long as the grabbing action can be realized, and the technical scheme that the application number is CN201720967608.0 and the underwater manipulator can be freely turned can be specifically adopted.
The flow guide top cover 103 and the seal mounting ring 102 are fixedly connected together through screws, the seal mounting ring 102 and the pressure-resistant shell 101 are fixedly connected together through screws, and the pressure-resistant shell 101 and the base 104 are fixedly connected together through screws; the bottom plate 105 is arranged on the base 104, the operation manipulator 3 is arranged on the bottom plate 105, and under the normal state, all joints are tightened to be attached to the pressure-resistant shell 101, and underwater operations such as grabbing, carrying objects, welding and the like can be carried out when the pressure-resistant shell is suspended; an extension pipe 505 is installed on the side surface of each branch of the pressure-resistant casing 101 through a screw, a sealing ring is arranged at the connecting end surface, and a felt ring 528 is arranged between the extension pipe 505 and the transmission shaft 507; the stationary ring end cover 504 and the extension pipe 505 are fixedly connected together through screws, the propeller thruster 501 and the rotating shaft 502 are fixedly connected together through screws, and the damping ball 503 is positioned between the stationary ring end cover 504 and the rotating shaft 502 to reduce the vibration of the propeller thruster 501 to the rotating shaft 502; the extension pipe 505, the stationary ring end cover 504, the damping ball 503, the rotating shaft 502 and the propeller propellers 501 are respectively and uniformly arrayed in a circumferential array of 6 around the rotating shaft of the pressure casing 101, the channel propellers 2 are installed at the center of the pressure casing 101, the channel propellers 2 can improve the propelling efficiency of the propellers and play an auxiliary role in the movement of the unmanned underwater vehicle; the driving motor 511 drives the transmission shaft 507 to rotate by meshing the upper gear 509 and the lower gear 508, the elastic coupling connects the rotating shaft 502 and the transmission shaft 507 together, so that the transverse vibration and the longitudinal vibration of a shafting are weakened, and the local impact transmitted from the propeller 501 is absorbed; the shaft end of the rotating shaft 502 adopts a mechanical sealing mode, the spring seat 525 is installed on the rotating shaft 502 through a set screw 524, when the rotating shaft 502 rotates, the movable ring 522 is driven to rotate through the compensation spring 523, the movable ring sealing ring 521 is arranged between the movable ring 522 and the rotating shaft 502, the movable ring 522 is tightly attached to the static ring 520 under the action of the compensation spring 523, the anti-rotation pin 519 is fixed on the static ring end cover 504 to prevent the static ring 520 from rotating, and the static ring sealing ring 518 is arranged between the static ring end cover 504 and the end face of the static ring 520; two spring rotary sealing elements are designed on the transmission shaft 507, and the abrasion of the rotation to the end face of the sealing element is compensated through the springs, so that the secondary sealing effect is realized; the lower gear 508 is installed on the transmission shaft 507 through a key and a third shaft sleeve 517, an inner ring of the tapered roller bearing 515 is matched with the transmission shaft 507, an outer ring of the tapered roller bearing 515 is matched with the bearing support 514, an inner ring of the self-aligning ball bearing 512 is matched with the transmission shaft 507, an outer ring of the self-aligning ball bearing 512 is matched with the pressure-resistant shell 101, the first shaft sleeve 513 is located between the self-aligning ball bearings 512, the second shaft sleeve 516B is located between the self-aligning ball bearings 512 and the tapered roller bearing 515, and the third shaft sleeve 517 is located between the tapered roller bearing 515 and the lower gear 508 to balance radial force and axial force.

Claims (6)

1. A multi-degree-of-freedom-manipulation unmanned submersible vehicle comprising:
a main housing (1);
and an operating manipulator (3) arranged on the main housing (1); it is characterized by also comprising:
a monitoring unit (4) disposed on the main housing (1), the monitoring unit (4) including upper illumination lamps (401) and upper dome cameras (403) alternately disposed on an upper surface of the main housing (1) and lower illumination lamps (402) and lower cameras (404) alternately disposed on a lower surface of the main housing (1);
the propelling unit (5) comprises a plurality of groups of spiral propelling bodies which are uniformly distributed on the side wall of the main shell (1) in the circumferential direction; each group of spiral propelling bodies comprises a propeller (501) connected with the main shell (1) through a connecting body and a power and transmission unit for driving the propeller (501) to rotate around the axis of the connecting body, and the axis of the propeller (501) is vertical to the axis of the connecting body;
the connecting body comprises a rotating shaft (502) with one end fixedly connected with the side surface of the outer shell of the propeller (501), and the axis of the rotating shaft (502) is vertical to that of the propeller (501); the other end of the rotating shaft (502) sequentially penetrates through a damping ball (503), a stationary ring end cover (504) and an extension pipe (505) to be connected with a power and transmission unit, and the rotating shaft (502) is driven to rotate by the power and transmission unit; one end of the damping ball (503) is in contact with a shaft shoulder of the rotating shaft (502), the other end of the damping ball is in contact with the static ring end cover (504), the static ring end cover (504) is connected with one end of the extension pipe (505) through a screw, and the other end of the extension pipe (505) is in sealing connection with an extension pipe outside the pressure shell (101) of the main shell (1) through a sealing structure.
2. The multi-degree-of-freedom-manipulation unmanned submersible of claim 1, wherein the main housing (1) comprises:
an annular pressure-resistant casing (101);
the upper end of the pressure shell (101) is detachably connected with a flow guide top cover (103) through a seal mounting ring (102), and the upper illuminating lamp (401) and the upper hemispherical camera (403) are arranged on the flow guide top cover (103);
a base (104) detachably connected to the lower end of the pressure-resistant casing (101); the lower illuminating lamp (402) and the lower camera (404) are arranged on the base (104);
and a bottom plate (105) fixed on the lower end surface of the base (104).
3. The multi-degree-of-freedom-manipulation unmanned submersible of claim 2, further comprising a channel mover (2) disposed on the main housing (1) comprising:
a channel which is positioned in the middle of the main shell (1) and extends from the upper end to the lower end;
the paddle is arranged at one end of the pressure shell (101) of the channel close to the main shell (1);
and a channel motor fixed in the channel and driving the blades to rotate.
4. The multi-degree-of-freedom-manipulation unmanned submersible of claim 1, wherein the power and transmission unit comprises:
a transmission shaft (507) supported in the main housing (1), one end of the transmission shaft (507) being connected to the rotary shaft (502) through an elastic coupling (506);
a lower gear (508) fixed at a position of the transmission shaft (507) near the other end;
an upper gear (509) engaged with the lower gear (508);
and the output shaft of the driving motor (511) is coaxially and fixedly connected with the upper gear (509) through a speed reducer (510).
5. The multi-degree-of-freedom-manipulation unmanned submersible of claim 4, wherein the power and transmission unit further comprises:
the inner ring of the self-aligning ball bearing (512) is matched with the transmission shaft (507), and the outer ring is matched with the inner pipe arm of the extension pipe of the pressure casing (101);
a first bushing (513) disposed between the self-aligning ball bearings (512);
bearing supports (514) positioned at two sides of the lower gear (508), wherein each bearing support (514) is matched with and supported by the transmission shaft (507) through a tapered roller bearing (515);
a second sleeve (516) disposed between the self-aligning ball bearing (512) and a tapered roller bearing (515);
and a third bushing (517) disposed between one of the tapered roller bearings (515) adjacent to the self-aligning ball bearing (512) and the lower gear (508).
6. The unmanned submersible vehicle with multiple degrees of freedom manipulation according to claim 4 or 5, wherein the sealing structure in which the other end of the extension pipe (505) and the pressure-resistant casing (101) outside extension pipe of the main casing (1) are sealingly connected by a sealing structure comprises:
a stationary ring (520) sleeved on the rotating shaft (502) and connected to a stationary ring end cover (504) through an anti-rotation pin (519);
a stationary ring seal (518) disposed at a junction of the stationary ring (520) and the stationary ring end cap (504), the stationary ring (520) being located within the extension pipe (505);
a movable ring (522) which is positioned in the extension pipe (505) and sleeved on the rotating shaft (502), wherein one end surface of the movable ring (522) is contacted with the end surface of the static ring (520);
a rotating ring seal ring (521) provided between the rotating ring (522) and the rotating shaft (502);
a spring seat (525) fixed to the rotary shaft (502) by a set screw (524);
the compensating spring (523) is positioned between the movable ring (522) and the spring seat (525), and the compensating spring (523) is in a normal pressure state;
a connection seal ring (527) provided at a connection point between the extension pipe (505) and an end of an extension pipe of the pressure casing (101);
a bi-elastic rotary seal (526) disposed between the extension tube (505) and the drive shaft (507);
and a felt loop (528) disposed between an end of the extension pipe (505) and the drive shaft (507).
CN201911198248.2A 2019-11-29 2019-11-29 Unmanned submersible operated by multiple degrees of freedom Active CN110816795B (en)

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Publication number Priority date Publication date Assignee Title
CN113968326A (en) * 2021-09-26 2022-01-25 西安交通大学 Vector frame type underwater robot
CN114802664B (en) * 2022-05-20 2024-02-02 南京理工大学工程技术研究院有限公司 Underwater detector and use method thereof
CN114889794B (en) * 2022-06-06 2023-06-20 中国科学院沈阳自动化研究所 Channel propeller of deep sea autonomous underwater robot
CN116873129B (en) * 2023-07-21 2023-12-19 河北盛丰测绘服务有限公司 Hydrologic monitoring unmanned ship

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JPS6116192A (en) * 1984-07-03 1986-01-24 Agency Of Ind Science & Technol Underwater work robot
JP6036515B2 (en) * 2013-04-22 2016-11-30 株式会社Ihi Underwater vehicle
CN104002942A (en) * 2014-06-09 2014-08-27 北京理工大学 Micro autonomous submersible
CN104369849A (en) * 2014-10-30 2015-02-25 江苏科技大学 Tilt rotor submersible device
CN107697244A (en) * 2017-11-07 2018-02-16 哈尔滨工程大学 The spherical underwater robot promoted based on vector
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