CN203589222U - Iridium satellite and GPS combined antenna for underwater robot - Google Patents
Iridium satellite and GPS combined antenna for underwater robot Download PDFInfo
- Publication number
- CN203589222U CN203589222U CN201320784832.8U CN201320784832U CN203589222U CN 203589222 U CN203589222 U CN 203589222U CN 201320784832 U CN201320784832 U CN 201320784832U CN 203589222 U CN203589222 U CN 203589222U
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- antenna
- iridium satellite
- gps
- fixture
- radome
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Abstract
The utility model relates to a combined antenna, in particular to an iridium satellite and GPS combined antenna for an underwater robot. The iridium satellite and GPS combined antenna comprises an antenna switching assembly, a fixed base, a connecting pipe and an antenna assembling unit which are sequentially sealed and connected, wherein the antenna switching assembly comprises a watertight cable, a shaping framework, a joint positioning ring and a coaxial connector, the shaping framework is sealed and connected with the fixed base, one end of the shaping framework is provided with the joint positioning ring in which the coaxial connector is inserted, and one end is connected with the watertight cable which is sealed and connected with the shaping framework; and the antenna assembling unit comprises an antenna housing fixing member, an iridium satellite antenna, a GPS antenna and an antenna housing, one end of the antenna housing fixing member is sealed and connected with the connecting pipe through threads, the other end is sealed and connected with the antenna housing, and the iridium satellite antenna and the GPS antenna are packaged in the antenna housing and are respectively connected with the other end of the coaxial connector through coaxial signal lines. The iridium satellite and GPS combined antenna for the underwater robot has the advantages of simple structure, good underwater sealing performance, strong antenna signal, easy installation and the like.
Description
Technical field
The utility model relates to combined antenna, specifically iridium satellite and GPS combined antenna for a kind of underwater robot.
Background technology
Underwater robot is a kind of movable underwater units that can carry out under water particular task.Underwater robot generally can be divided into again has cable underwater robot (ROV) and without cable autonomous robot (AUV) under water.The communication that has a cable underwater robot and location be all generally by cable or optical fiber by direct-connected to operating desk and robot, by operating desk, can manipulate in real time ROV, but the length restriction of cable or optical fiber the scope of activities of ROV; And between the operating desk of autonomous robot (AUV) and robot, there is no physical connection under water without cable, so it has the characteristic that cruising range is wide, voyage is far away, but its communication is a little with regard to relative complex with location.
The communication of underwater robot is generally also divided into two kinds with location: one is water surface communication and location, i.e. communication and the locate mode of robot after emerging; Another kind is underwater communication and location, i.e. communication and the locate mode of robot when moving under water state.Water surface communication modes has radio communication, satellite communication etc.; GPS location, the Big Dipper location etc. of being positioned with waterborne; Underwater communication generally adopts acoustics communication apparatus, and generally there are long baseline location, the modes such as ultra-short baseline location in location under water.
At present, the class of the various antennas that domestic land is used is very complete, but special antenna majority needs dependence on import under water, and import cost is very expensive, and complex structure, is unfavorable for safeguarding.
Utility model content
The purpose of this utility model is to provide a kind of compact conformation, reliable operation, efficient underwater robot iridium satellite and GPS combined antenna.This combined antenna is applicable to water surface communication and the location of robot, together with iridium satellite antenna is encapsulated into gps antenna, has taken into full account the underwater sealing of antenna, and the loss of aerial signal etc. have realized the communication of the underwater robot water surface and location better.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises the antenna adapter assembly being tightly connected successively, firm banking, tube connector and antenna assembly, wherein antenna adapter assembly comprises watertight cable, setting skeleton, joint location ring and coaxial connector, one end of described setting skeleton and firm banking is tightly connected, the other end of firm banking is connected with one end sealing thread of described tube connector, one end of this setting skeleton is positioned at described firm banking, and be provided with joint location ring, described coaxial connector inserts in joint location ring, one end is connected with described watertight cable, this watertight cable is connected with setting reinforced seal, described antenna assembly comprises radome fixture, iridium satellite antenna, gps antenna and radome, one end of this radome fixture is connected with the other end sealing thread of described tube connector, the other end of radome fixture is connected with described radome sealing, described iridium satellite antenna and gps antenna are all encapsulated in described radome, and by coaxial signal line, are connected with the other end of described coaxial connector respectively.
Wherein: one end phase fit of one end of described setting skeleton and firm banking, and be fixed by clamp nut; Described joint location ring is two, each joint location ring is all inserted with a coaxial connector, one end of two coaxial connectors is connected with iridium satellite antenna, gps antenna by coaxial signal line respectively, and the other end of two coaxial connectors is connected with respectively watertight cable; The heart yearn of described watertight cable inserts the interior also welding of central shaft hole of coaxial connector, the shielding conductor of watertight cable and the housing contacts of coaxial connector welding; Between described watertight cable and setting skeleton, be perfused with epoxy resin, on the other end end face of described setting skeleton and the external cylindrical surface adjacent with this end face, sulfuration has rubber, and then realizes watertight cable, rubber, epoxy resin, setting skeleton, joint location ring and an entirety of coaxial connector formation; Described watertight cable is coaxially connected with coaxial connector, at the other end of described coaxial connector, is provided with line ball ring;
Described iridium satellite antenna and gps antenna are arranged in radome by iridium satellite antenna fixture, gps antenna fixture respectively, the two ends of described iridium satellite antenna fixture respectively with one end phase fit of radome fixture and iridium satellite antenna, the other end of one end of described gps antenna fixture and iridium satellite antenna plugs, the affixed gps antenna of the other end of gps antenna fixture; Described iridium satellite antenna and gps antenna coaxially arrange, one end of two coaxial signal line is connected with iridium satellite antenna and gps antenna respectively, the other end of the coaxial signal line being connected with iridium satellite antenna through iridium satellite antenna fixture, radome fixture, tube connector, is connected on a coaxial connector successively; The other end of the coaxial signal line being connected with gps antenna through gps antenna fixture, iridium satellite antenna, iridium satellite antenna fixture, radome fixture, tube connector, is connected on another coaxial connector successively;
Described firm banking, tube connector, radome fixture and the same tandem shafts of radome, and be cylindrical revolving body.
Advantage of the present utility model and good effect are:
1. the utlity model has very strong underwater sealing performance, coaxial signal line is connected with watertight cable by coaxial connector, three is concentric, has greatly reduced the decay of signal when coaxial signal line is connected with watertight cable.
2. the utility model forms an entirety by watertight cable, rubber, epoxy resin, setting skeleton, joint location ring, coaxial connector sulfuration, is convenient to its integral installation, dismounting and location, and realized good modularized design.
3. the utility model is packaged into one by iridium satellite antenna and gps antenna, can meet the communication of the underwater robot water surface and the requirement of locating simultaneously, practical.
4. between the utility model firm banking and radome fixture, by longer tube connector, be connected, and adopt double containment design, both raise the freeboard of antenna assembly, avoided the impact on signal at wave, guaranteed again the sealing of robot when dive.
5. the utility model cost is low, simple in structure, and overall dimension is little, lightweight, is easy to be arranged on underwater robot.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of antenna adapter assembly in Fig. 1;
Fig. 3 is the structural representation of antenna assembly in Fig. 1;
Wherein: 1 is antenna adapter assembly, 2 is clamp nut, and 3 is adapter assembly sealing ring, 4 is firm banking, and 5 is tube connector, and 6 is tube connector sealing ring, 7 is antenna assembly, and 8 is watertight cable, and 9 is rubber, 10 is epoxy resin, 11 is setting skeleton, and 12 is joint location ring, and 13 is coaxial connector, 14 is line ball ring, 15 is coaxial signal line, and 16 is radome fixture, and 17 is sunk screw, 18 is radome sealing ring, 19 is iridium satellite antenna fixture, and 20 is iridium satellite antenna, and 21 is gps antenna fixture, 22 is gps antenna, and 23 is radome.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises antenna adapter assembly 1, clamp nut 2, adapter assembly sealing ring 3, firm banking 4, tube connector 5, tube connector sealing ring 6 and antenna assembly 7, and wherein antenna adapter assembly 1, firm banking 4, tube connector 5 and antenna assembly 7 are tightly connected successively.
As shown in Figure 1 and Figure 2, antenna adapter assembly 1 comprises watertight cable 8, rubber 9, epoxy resin 10, setting skeleton 11, joint location ring 12, coaxial connector 13 and line ball ring 14, setting one end (right-hand member) of skeleton 11 and one end (left end) phase fit of firm banking 4, by the adapter assembly sealing ring 3 radially arranging, seal between the two, then by clamp nut 2, be fixed.Two joint location rings 12 match with two location holes that setting skeleton 11 right-hand member end faces are offered, two coaxial connectors 13 insert respectively in joint location solid 12, one end (left end) of each coaxial connector 13 is coaxially connected with a watertight cable 8 respectively, and (heart yearn of watertight cable 8 inserts central shaft hole the welding of coaxial connector 13, the housing contacts of the shielding conductor of watertight cable 8 and coaxial connector 13 welding), this just guaranteed watertight cable 8 with coaxial connector 13 concentric and coaxial connector 13 and the insulating properties that formalizes between skeleton 11; The other end (right-hand member) of each coaxial connector 13 is equipped with line ball ring 14.Then to infusion epoxy resin 10 in the cavity of setting skeleton 11, epoxy resin 10 solidifies after setting, by mould, rubber 9 is vulcanized on setting skeleton 11 other ends (left end) end face and the external cylindrical surface adjacent with this end end face; After rubber 9 has vulcanized, watertight cable 8, rubber 9, epoxy resin 10, setting skeleton 11, joint location ring 12 and coaxial connector 13 have just formed an entirety.
The other end (right-hand member) of firm banking 4 is threaded with one end (left end) of tube connector (5), and adopts double sealing structure (sealing by two tube connector sealing rings 6 radially with one end of tube connector 5).The left end of firm banking 4 is provided with four through holes, and right-hand member is provided with four screwed holes, conveniently whole combined antenna is fixed on underwater robot.
As shown in Figure 1, Figure 3, antenna assembly 7 comprises coaxial signal line 15, radome fixture 16, iridium satellite antenna fixture 19, iridium satellite antenna 20, gps antenna fixture 21, gps antenna 22 and radome 23, wherein one end of radome fixture 16 (left end) is threaded with the other end (right-hand member) of tube connector 5, and adopts double sealing structure (sealing by two tube connector sealing rings 6 radially with one end of tube connector 5).The other end (right-hand member) of radome fixture 16 and radome 23 phase fits, seal by a radome sealing ring 18 radially arranging, and be fixed by two sunk screws 17.Iridium satellite antenna 20 and gps antenna 22 are encapsulated in radome 23 together by iridium satellite antenna fixture 19, gps antenna fixture 21 respectively, have both possessed communication function, possess again positioning function; The two ends, left and right of iridium satellite antenna fixture 19 respectively with one end (left end) phase fit of radome fixture 16 and iridium satellite antenna 20, four boss of one end (left end) of gps antenna fixture 21 are inserted in four corresponding apertures of iridium satellite antenna 20 other ends (right-hand member), and the other end (right-hand member) of gps antenna fixture 21 is fixed with gps antenna 22; Iridium satellite antenna 20 and gps antenna 22 coaxially arrange, one end of two coaxial signal line 15 is connected with iridium satellite antenna 20 and gps antenna 22 respectively, the other end of the coaxial signal line 15 being connected with iridium satellite antenna 20 through iridium satellite antenna fixture 19, radome fixture 16, tube connector 5, is connected on a coaxial connector 13 successively; The other end of the coaxial signal line 15 being connected with gps antenna 22 through gps antenna fixture 21, iridium satellite antenna 20, iridium satellite antenna fixture 19, radome fixture 16, tube connector 5, is connected on another coaxial connector 13 successively.
Firm banking 4 of the present utility model, tube connector 5, radome fixture 16 and the same tandem shafts of radome 23, and be cylindrical revolving body, can be high pressure resistant, and guarantee the sealing under high pressure.Radome 23 of the present utility model, iridium satellite antenna fixture 19 and gps antenna fixture 21 all adopt the nonmetallic materials that wave is good, intensity is high, as PEEK(polyether-ether-ketone).
Claims (8)
1. a underwater robot iridium satellite and GPS combined antenna, it is characterized in that: comprise the antenna adapter assembly (1) being tightly connected successively, firm banking (4), tube connector (5) and antenna assembly (7), wherein antenna adapter assembly (1) comprises watertight cable (8), setting skeleton (11), joint location ring (12) and coaxial connector (13), described setting skeleton (11) is tightly connected with one end of firm banking (4), the other end of firm banking (4) is connected with one end sealing thread of described tube connector (5), one end of this setting skeleton (11) is positioned at described firm banking (4), and be provided with joint location ring (12), described coaxial connector (13) inserts in joint location ring (12), one end is connected with described watertight cable (8), this watertight cable (8) is tightly connected with setting skeleton (11), described antenna assembly (7) comprises radome fixture (16), iridium satellite antenna (20), gps antenna (22) and radome (23), one end of this radome fixture (16) is connected with the other end sealing thread of described tube connector (5), the other end of radome fixture (16) is connected with described radome (23) sealing, described iridium satellite antenna (20) and gps antenna (22) are all encapsulated in described radome (23), and by coaxial signal line (15), are connected with the other end of described coaxial connector (13) respectively.
2. by iridium satellite and GPS combined antenna for underwater robot claimed in claim 1, it is characterized in that: one end phase fit of one end of described setting skeleton (11) and firm banking (4), and be fixed by clamp nut (2).
3. by iridium satellite and GPS combined antenna for the underwater robot described in claim 1 or 2, it is characterized in that: described joint location ring (12) is two, each joint location ring (12) is all inserted with a coaxial connector (13), one end of two coaxial connectors (13) is connected with iridium satellite antenna (20), gps antenna (22) by coaxial signal line (15) respectively, and the other end of two coaxial connectors (13) is connected with respectively watertight cable (8).
4. by iridium satellite and GPS combined antenna for the underwater robot described in claim 1 or 2, it is characterized in that: the heart yearn of described watertight cable (8) inserts the interior also welding of central shaft hole of coaxial connector (13), the housing contacts of the shielding conductor of watertight cable (8) and coaxial connector (13) welding; Between described watertight cable (8) and setting skeleton (11), be perfused with epoxy resin (10), on the other end end face of described setting skeleton (11) and the external cylindrical surface adjacent with this end face, sulfuration has rubber (9), and then realizes watertight cable (8), rubber (9), epoxy resin (10), setting skeleton (11), joint location ring (12) and an entirety of coaxial connector (13) formation.
5. by iridium satellite and GPS combined antenna for the underwater robot described in claim 1 or 2, it is characterized in that: described watertight cable (8) is coaxially connected with coaxial connector (13), at the other end of described coaxial connector (13), is provided with line ball ring (14).
6. by iridium satellite and GPS combined antenna for underwater robot claimed in claim 1, it is characterized in that: described iridium satellite antenna (20) and gps antenna (22) are respectively by iridium satellite antenna fixture (19), gps antenna fixture (21) is arranged in radome (23), the two ends of described iridium satellite antenna fixture (19) respectively with one end phase fit of radome fixture (16) and iridium satellite antenna (20), the other end of one end of described gps antenna fixture (21) and iridium satellite antenna (20) plugs, the affixed gps antenna of the other end (22) of gps antenna fixture (21).
7. by iridium satellite and GPS combined antenna for underwater robot claimed in claim 6, it is characterized in that: described iridium satellite antenna (20) and gps antenna (22) coaxially arrange, one end of two coaxial signal line (15) is connected with iridium satellite antenna (20) and gps antenna (22) respectively, the other end of the coaxial signal line (15) being connected with iridium satellite antenna (20) through iridium satellite antenna fixture (19), radome fixture (16), tube connector (5), is connected on a coaxial connector (13) successively; The other end of the coaxial signal line (15) being connected with gps antenna (22) through gps antenna fixture (21), iridium satellite antenna (20), iridium satellite antenna fixture (19), radome fixture (16), tube connector (5), is connected on another coaxial connector (13) successively.
8. by iridium satellite and GPS combined antenna for the underwater robot described in claim 1,6 or 7, it is characterized in that: described firm banking (4), tube connector (5), radome fixture (16) and the same tandem shafts of radome (23), and be cylindrical revolving body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320784832.8U CN203589222U (en) | 2013-11-30 | 2013-11-30 | Iridium satellite and GPS combined antenna for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320784832.8U CN203589222U (en) | 2013-11-30 | 2013-11-30 | Iridium satellite and GPS combined antenna for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203589222U true CN203589222U (en) | 2014-05-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320784832.8U Withdrawn - After Issue CN203589222U (en) | 2013-11-30 | 2013-11-30 | Iridium satellite and GPS combined antenna for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203589222U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682019A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Iridium and GPS (Global Positioning System) combined antenna for underwater robot |
| CN104816801A (en) * | 2015-04-09 | 2015-08-05 | 哈尔滨工程大学 | AUV emergency alarm buoy |
| CN105490020A (en) * | 2015-12-04 | 2016-04-13 | 哈尔滨工程大学 | Anti-hydraulic pressure composite antenna for multi-band communication and navigation |
| CN109524756A (en) * | 2017-09-18 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Underwater autonomous folded antenna |
| CN111332411A (en) * | 2020-03-25 | 2020-06-26 | 中国科学院沈阳自动化研究所 | Offshore recovery method for underwater robot |
| CN112072282A (en) * | 2020-09-21 | 2020-12-11 | 北京蔚海明祥科技有限公司 | Pressure-resistant antenna for underwater vehicle |
| CN115118549A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | Bridge structure of large-depth underwater robot |
-
2013
- 2013-11-30 CN CN201320784832.8U patent/CN203589222U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682019A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Iridium and GPS (Global Positioning System) combined antenna for underwater robot |
| CN104682019B (en) * | 2013-11-30 | 2017-09-29 | 中国科学院沈阳自动化研究所 | A kind of underwater robot iridium satellite and GPS combined antennas |
| CN104816801A (en) * | 2015-04-09 | 2015-08-05 | 哈尔滨工程大学 | AUV emergency alarm buoy |
| CN105490020A (en) * | 2015-12-04 | 2016-04-13 | 哈尔滨工程大学 | Anti-hydraulic pressure composite antenna for multi-band communication and navigation |
| CN105490020B (en) * | 2015-12-04 | 2018-12-07 | 哈尔滨工程大学 | A kind of water resistant depth multi-band communication navigation combined antenna |
| CN109524756A (en) * | 2017-09-18 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Underwater autonomous folded antenna |
| CN109524756B (en) * | 2017-09-18 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Underwater autonomous folding antenna |
| CN111332411A (en) * | 2020-03-25 | 2020-06-26 | 中国科学院沈阳自动化研究所 | Offshore recovery method for underwater robot |
| CN112072282A (en) * | 2020-09-21 | 2020-12-11 | 北京蔚海明祥科技有限公司 | Pressure-resistant antenna for underwater vehicle |
| CN115118549A (en) * | 2022-07-04 | 2022-09-27 | 中国科学院沈阳自动化研究所 | Bridge structure of large-depth underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140507 Effective date of abandoning: 20170929 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140507 Effective date of abandoning: 20170929 |