CN113264168A

CN113264168A - Underwater vehicle

Info

Publication number: CN113264168A
Application number: CN202110551511.2A
Authority: CN
Inventors: 吴晓辉; 邢普; 周乐; 刘莹煌
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-08-17

Abstract

The invention discloses an underwater vehicle, including a casing, a driving module for providing power for the underwater vehicle, a fixing mechanism for fixing the driving module, a storage tray for clamping and placing the counterweight module and other required equipment, and The casing is assembled into an end cover with a sealed spherical structure, the lower end of the casing is connected to the end cover, the end cover is located inside the casing and is provided with the storage tray, and the upper end of the storage tray is installed with a storage box, the The fixing mechanism is installed at the inner center of the shell, and the fixing mechanism is composed of a support rod and an inner ball, the inner ball is located at the center of the outer shell, and four support rods are evenly installed on the inner ball, so The drive module is mounted on the support rod. The present invention utilizes the dynamic state of the methane molecular structure formed between the four internal driving modules, so as to ensure the overall balance of the device for the kinetic energy of each surface, the overall structural stability is strong, and is suitable for underwater navigation.

Description

Underwater vehicle

Technical Field

The invention relates to the field of underwater vehicles, in particular to an underwater vehicle.

Background

The scientific and technological development to date, the scientific and technological research of exploration sky by human beings is quite mature, and the civil aircraft is well developed, such as the unmanned plane developed by the national high-tech company, the institute of great force innovation. However, the development of commercial underwater vehicles is still in its infancy for oceans with 71% of the total surface area of the occupied balls.

The current underwater vehicle is mainly developed aiming at the deep sea detection requirement, has complex structure, large volume and heavy weight, leads to high technical difficulty, huge cost and long development period of development and development, is mainly used for military, resource development and other purposes, and has few commercial and civil small-sized underwater vehicles.

Aiming at the research limitation of the existing underwater vehicle, the invention designs the modularized underwater vehicle with low cost, low noise and miniaturization, the whole structure is simple, the symmetry is very high, and the modularized underwater vehicle is very suitable for underwater navigation.

Disclosure of Invention

It is an object of the present invention to provide an underwater vehicle in order to solve the above problems.

The invention realizes the purpose through the following technical scheme:

the underwater vehicle comprises a shell, a driving module for providing power for the underwater vehicle, a fixing mechanism for fixing the driving module, a containing disc capable of clamping and placing a counterweight module and other required equipment, and an end cover assembled into a sealed spherical structure with the shell, wherein the lower end of the shell is connected with the end cover, the containing disc is arranged on the inner side of the shell of the end cover, a containing box is arranged at the upper end of the containing disc, the fixing mechanism is arranged at the central position in the shell and consists of a supporting rod and an inner ball, the inner ball is positioned at the circle center of the shell, four supporting rods are uniformly arranged on the inner ball, the driving module is arranged on the supporting rod and comprises an underwater propeller, a storage battery, a PWM signal receiver and a connecting wing surface, the underwater propeller is arranged in the supporting rod, the connecting wing surface is installed at one end of the supporting rod, the connecting wing surface is connected with the shell, the PWM signal receiver is arranged on the inner side of the underwater propeller, and the storage battery is arranged on the inner side of the PWM signal receiver.

Preferably: the shell material acrylic material, just the end cover passes through adhesive bonding the shell with the storage tray.

So set up, guaranteed the leakproofness through adhesive bonding.

Preferably: the inner ball is positioned at an included angle of 120 degrees between every two of the support rods, the four support rods and the inner ball are matched to form a methane molecular structure, and Morse taper holes used for connecting the support rods are formed in the inner ball.

So set up, utilize four drive module to install on four bracing pieces to kinetic energy to each face guarantees the holistic balance of device.

Preferably: the connecting wing surface is connected with the shell and the supporting rod through gluing.

So configured, the connecting airfoil is used for sealing and connecting.

Preferably: the storage box is connected with the storage disc through a buckle, and is located at the bottom surface of the inner portion of the shell.

So set up, the receiver is used for the counter weight and adjusts the heavy effect of floating.

Compared with the prior art, the invention has the following beneficial effects:

1. the dynamic state of a methane molecular structure is formed among the four driving modules in the device, so that the kinetic energy of each surface is ensured to balance the whole device;

2. the whole structure has strong stability and is suitable for underwater navigation.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic illustration of the structure of an underwater vehicle of the present invention;

FIG. 2 is an exploded view of an underwater vehicle according to the present invention;

fig. 3 is a schematic structural diagram of a driving module of the underwater vehicle disclosed by the invention.

The reference numerals are explained below:

1. a housing; 2. a drive module; 3. a fixing mechanism; 4. a storage tray; 5. an end cap; 6. a support bar; 7. an inner ball; 8. a storage box; 9. an underwater propeller; 10. a storage battery; 11. a PWM signal receiver; 12. the airfoil is attached.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The invention will be further described with reference to the accompanying drawings in which:

example 1

As shown in fig. 1-3, the underwater vehicle comprises a housing 1, a driving module 2 for providing power for the underwater vehicle, a fixing mechanism 3 for fixing the driving module 2, a containing disc 4 capable of clamping and placing a counterweight module and other required equipment, and an end cover 5 assembled with the housing 1 into a sealed spherical structure, wherein the lower end of the housing 1 is connected with the end cover 5, the end cover 5 is arranged at the inner side of the housing 1 and is provided with the containing disc 4, the upper end of the containing disc 4 is provided with a containing box 8, the central position in the housing 1 is provided with the fixing mechanism 3, the fixing mechanism 3 is composed of a support rod 6 and an inner ball 7, the inner ball 7 is positioned at the center of the housing 1, four support rods 6 are uniformly arranged on the inner ball 7, the support rod 6 is provided with the driving module 2, the driving module 2 comprises an underwater propeller 9, a storage battery 10, a signal receiver 11 and a connecting wing 12, the underwater propeller 9 is arranged inside the support rod 6, the connecting wing surface 12 is arranged at one end of the support rod 6, the connecting wing surface 12 is connected with the shell 1, the PWM signal receiver 11 is arranged on the inner side of the underwater propeller 9, and the storage battery 10 is arranged on the inner side of the PWM signal receiver 11.

Preferably: the shell 1 is made of acrylic materials, the end cover 5 is connected with the shell 1 and the containing disc 4 through gluing, and the sealing performance is guaranteed through gluing; the included angle between every two inner balls 7 positioned on the support rods 6 is 120 degrees, the four support rods 6 and the inner balls 7 are matched to form a methane molecular structure, Morse taper holes for connecting the support rods 6 are formed in the inner balls 7, and the four drive modules 2 are arranged on the four support rods 6, so that the integral balance of the device is ensured for the kinetic energy of each surface; the connecting wing surfaces 12 are connected with the shell 1 and the supporting rod 6 through gluing, and the connecting wing surfaces 12 are used for sealing and connecting; storage box 8 is connected storage plate 4 through the buckle, and storage box 8 is located the inside bottom surface position of shell 1, and storage box 8 is used for the counter weight and adjusts the heavy effect of floating.

The working principle is as follows: the method comprises the steps that an underwater propeller 9 on a driving module 2 at the top end inside a shell 1 is used as a Z axis, a three-dimensional Cartesian coordinate system and a mathematical model of a device are established, a manual remote control sends digital signals to a PWM signal receiver 11 through an underwater sound technology, the PWM signal receiver 11 analyzes the digital signals to which the PWM signal receiver belongs, 4 radial-flow type underwater propellers 9 are controlled to generate different power outputs, the synthetic vector of four power vectors can be regarded as single-vector accelerating power according to the mathematical model of the three-dimensional Cartesian coordinate system, an underwater vehicle is further pushed to move, and meanwhile, a counterweight device inside a storage box 8 is used for adjusting the depth.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. Underwater vehicle, it is characterized in that: comprising a casing (1), a drive module (2) that provides power for the underwater vehicle, a fixing mechanism (3) for fixing the drive module (2), a clampable A storage tray (4) for placing the counterweight module and other required equipment closely, and an end cover (5) assembled with the casing (1) to form a sealed spherical structure, the lower end of the casing (1) is connected to the end cover (5) , the end cover (5) is located on the inner side of the outer casing (1) and is provided with the storage tray (4), the upper end of the storage tray (4) is equipped with a storage box (8), and the inner center of the outer casing (1) is provided with a storage box (8). The fixing mechanism (3) is installed at the position, and the fixing mechanism (3) consists of a support rod (6) and an inner ball (7), and the inner ball (7) is located at the center of the outer shell (1), so Four support rods (6) are evenly mounted on the inner ball (7), the drive module (2) is mounted on the support rod (6), and the drive module (2) includes an underwater propeller (9), a battery (10), a PWM signal receiver (11), a connecting airfoil (12), the underwater propeller (9) is installed inside the support rod (6), and the connecting airfoil ( 12) Installed on one end of the support rod (6), and the connecting airfoil (12) is connected with the housing (1), and the PWM signal receiver ( 11), the storage battery (10) is provided inside the PWM signal receiver (11).

2. The underwater vehicle according to claim 1, characterized in that: the casing (1) is made of acrylic material, and the end cover (5) is connected to the casing (1) and the storage by gluing plate (4).

3. The underwater vehicle according to claim 1, characterized in that: the included angle between the inner balls (7) on the support rods (6) is 120 degrees, and the four support rods (6) cooperates with the inner ball (7) to form a methane molecular structure, and a Morse taper hole for connecting the support rod (6) is formed on the inner ball (7).

4 . The underwater vehicle according to claim 1 , wherein the connecting airfoil ( 12 ) is connected to the casing ( 1 ) and the support rod ( 6 ) by gluing. 5 .

5. The underwater vehicle according to claim 1, characterized in that: the storage box (8) is connected to the storage tray (4) by a buckle, and the storage box (8) is located in the outer shell ( 1) Internal bottom surface position.