CN206466144U - A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more - Google Patents
A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more Download PDFInfo
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- CN206466144U CN206466144U CN201720061096.1U CN201720061096U CN206466144U CN 206466144 U CN206466144 U CN 206466144U CN 201720061096 U CN201720061096 U CN 201720061096U CN 206466144 U CN206466144 U CN 206466144U
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- spherical shell
- rolling
- submersible
- swum
- dwelling
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Abstract
Swum hybrid submersible of dwelling the utility model discloses a kind of rolling into based on built-in driving principle more, including：Outer spherical shell, propulsion plant, interior spherical shell, roll into power set, buoyancy regulating device and driving transfer；The inside for being arranged at outer spherical shell that interior spherical shell can be rotated relative to outer spherical shell around the first direction of principal axis；Roll power set to be arranged in interior spherical shell, it can rotate generation eccentric moment around the second axle makes submersible advance or retreat；Buoyancy regulating device and transfer are mounted in the space between outer spherical shell and interior spherical shell, wherein buoyancy regulating device can make submersible sink or on float in water body, transfer can drive interior spherical shell to be rotated relative to outer spherical shell；First axle is perpendicular to the second axle.The utility model has the advantage that：It can not only be swum in water body and water bottom motion, additionally it is possible in Land Movement so as to realize the ability across medium activity, can also allow laying recovery and become simple in addition.
Description
Technical field
The invention belongs to submersible technical field, and in particular to a kind of rolling into based on built-in driving principle is swum hybrid
Submersibles of dwelling more.
Background technology
Submersible is used as one of the technical way of human development using ocean, it has also become ocean new and high technology it is important
Forward position.A large amount of submersibles emerge in large numbers in succession, including manned underwater vehicle（HOV）, have the unmanned submersible of cable remote control（ROV）And untethered
Autonomous unmanned submersible（AUV）Deng.These submersibles such as AUV, at most awaits orders near Sea Bottom cruise or seat bottom, it is impossible in sea bed
Upper freedom is motor-driven.And in seabed operation such as crawler type ROV the umbilical cables water surface can be needed to power, therefore not yet occur in the world at present
Have the amphibious from principal mode submersible of function of being swum in thalassogenic movement and water concurrently.
Traditional unmanned submersible is based on frame-type, FORCES ON SLENDER BODY OF REVOLUTION and combinations thereof, and motion state is to swim in water.
Crawler belt or wheel type drive device traction load are big, more heavy, and easily unstability.
The content of the invention
It is an object of the invention to overcome deficiency of the prior art, there is provided a kind of floating based on rolling into for built-in driving principle
The hybrid submersibles of dwelling of trip, can not only swim and water bottom motion, additionally it is possible in Land Movement so as to reality more in water body
Now across the ability of medium activity, it can also allow laying recovery and become simple in addition.
To solve prior art problem, swum the invention discloses a kind of rolling into based on built-in driving principle hybrid many
Dwell submersible, including：Outer spherical shell, propulsion plant, interior spherical shell, rolling power set, buoyancy regulating device and transfer；
Outer spherical shell has the outer wall of a spheric, and interior spherical shell has the inwall of a spheric；Interior spherical shell can be with respect to ectosphere
The inside for being arranged at outer spherical shell that shell is rotated around the first direction of principal axis；Roll power set to be arranged in interior spherical shell, it can be around the
Two axles, which rotate generation eccentric moment, makes submersible advance or retreat；Buoyancy regulating device and transfer be mounted on outer spherical shell and
In space between interior spherical shell, wherein buoyancy regulating device can make submersible sink or float in water body, and transfer can
Spherical shell is rotated relative to outer spherical shell in driving；First axle is perpendicular to the second axle.
Further, rolling power set includes：Pivoted frame, roller, motor, controller and battery pack；Phase on pivoted frame
To both sides be respectively mounted roller, the inwall of roller and spheric is in rolling contact, the roller of motor driving wherein side from
And pivoted frame is rotated relative to interior spherical shell；Controller is electrically connected with motor, battery respectively with controller and motor
Electrical connection；
Wherein, motor and battery it is eccentrically mounted on pivoted frame so that roll power set produce eccentric moment.
Further, pivoted frame includes：Center bearing bracket and elastic support, roller are respectively arranged in center bearing bracket and elastic support
On；Elastic support is made up of the elastic connection along two side wheel centerline directions spring and center bearing bracket, so that two sidewinder
Wheel can be contacted with the inwall of spheric all the time.
Further, buoyancy regulating device includes water injection case, water pump and integrated valve group, and water is inhaled into through water pump and valve group
Or discharge in water injection case.
Further, water injection case loop configuration in a tubular form, encloses around the outer Monday of interior spherical shell and sets.
Further, transfer includes：Turn to gear ring, tooth sector and steering motor；Turn to gear ring and be arranged at interior ball
On the outer wall of shell, steering motor is arranged on the inwall of outer spherical shell, and tooth sector is arranged in the rotating shaft of steering motor and with turning
Engaged to gear ring.
Further, outer spherical shell has the installation portion for protruding its outer wall, propulsion plant at its diametric two ends respectively
It is respectively arranged on each installation portion.
Further, the quantity of the propulsion plant on each installation portion is two propulsions on two, same installation portion
Device is arranged symmetrically with vertical line, mutually at an angle of 90.
Further, the quantity of the propulsion plant on each installation portion be one, propulsion plant can ± 90 ° rotation set
It is placed on installation portion.
Further, some convex tactile structure or groove texture structure are distributed with the outer wall of outer spherical shell to increase the bottom
Friction.
The device have the advantages that：It can not only be swum in water body and water bottom motion, additionally it is possible on land
Motion can also allow laying recovery and become simple in addition so as to realize the ability across medium activity.
Brief description of the drawings
Fig. 1 is the structural perspective of a preferred embodiment of the invention；
Fig. 2 is the exploded perspective figure of embodiment illustrated in fig. 1；
Fig. 3 is the structural front view of embodiment illustrated in fig. 1；
Fig. 4 is the structural side view of embodiment illustrated in fig. 1；
Fig. 5 is the structural perspective of rolling power set in embodiment illustrated in fig. 1；
Fig. 6 is the structural front view of rolling power set in embodiment illustrated in fig. 1；
Fig. 7 is the structural side view of rolling power set in embodiment illustrated in fig. 1；
Fig. 8 is the motion principle figure of rolling power set in embodiment illustrated in fig. 1；
Fig. 9 is the structure top view of transfer in embodiment illustrated in fig. 1；
Figure 10 is the horizontally disposed structural front view of another preferred embodiment of the present invention propulsion plant；
The structural front view that Figure 11 is vertically arranged for propulsion plant in embodiment illustrated in fig. 10.
Reference：
1 outer spherical shell；1.1 installation portion；1.2 convex tactile structures；2 propulsion plants；3 support frames；Spherical shell in 4；5 rollers；6 turn to tooth
Circle；7 motors；8 center bearing brackets；9 elastic supports；10 springs；11 tooth sectors.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
Embodiment one
As shown in Figure 1 to 9, a kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more, including：Ectosphere
Shell 1, propulsion plant 2, interior spherical shell 4, rolling power set, buoyancy regulating device and transfer.
Specifically, for the ease of preferably being contacted and activity with water bottom or land, outer spherical shell 1 is spherical shell
Body, its inner and outer wall is sphere, and the groove texture knot of some convex tactile structures 1.2 or similar tire is distributed with its external wall
Structure.
In order to which interior spherical shell 4 is preferably fixed in outer spherical shell 1, and it is easy to rolling power set preferably to produce partially
Mental and physical efforts square, interior spherical shell 4 is also spherical housing, and its inner and outer wall is sphere.Interior spherical shell 4 is concentric by a support frame 3
The inside of outer spherical shell 1 is arranged at, and can be rotated relative to outer spherical shell 1 around first axle.Roll power set and be arranged at interior spherical shell 4
Inside, buoyancy regulating device and transfer are mounted in the space between outer spherical shell 1 and interior spherical shell 4.
Roll power set and produce the structure that has of eccentric moment and be：Rolling power set includes：Pivoted frame, roller 5, drive
Dynamic motor 7, controller and battery.Relative both sides are respectively mounted roller 5 on pivoted frame, and the inwall of roller 5 and interior spherical shell 4 constitutes rolling
Dynamic contact, motor 7 drives the roller 5 of wherein side so that pivoted frame can be rotated relative to interior spherical shell 4 around the second axle.Control
Device electrically connects control motor 7 with motor 7 and completes rotating control, and battery is electric with controller and motor 7 respectively
It is connected as its power supply.Wherein, motor 7 and battery are as the larger part of quality in rolling power set, therefore are used as weight
Thing it is eccentrically mounted on pivoted frame so that pivoted frame rotate when can produce eccentric moment.
As shown in figure 8, regard interior spherical shell 4 and outer spherical shell 1 as a complete spheroid, spheroid with support the spheroid face it
Between application point be the strong point, regard motor 7 and battery as inverted pendulum, under gravity, inverted pendulum be located at spheroid bottom,
When the work of motor 7 rotates the inverted pendulum opposing spheres, inverted pendulum weight opposite support points formation torque, torque driving ball
Body is rotated backward, and then inverted pendulum recovers initial position.In spheroid rotation process, the frictional force in the face of the spheroid is supported to drive simultaneously
Spheroid advances, and repeats the process, and spheroid will be rolled into continuously.
In order to contact inwall of the roller 5 all the time with interior spherical shell 4 in rotation process, pivoted frame is divided into mobilizable two
Support 8 centered on part, a part, another part is to install a pair roller 5, elastic support 9 on elastic support 9, center bearing bracket 8
On the pair roller 5 also installed on a pair roller 5, center bearing bracket 8 driven respectively by a motor 7.Elastic support 9 passes through
Spring 10 constitutes the elastic connection along the centerline direction of two side wheel 5 with center bearing bracket 8, and spring 10 makes elastic support 9 have phase
The trend moved out to center bearing bracket 8, so that two side wheels 5 can be contacted with the inwall of interior spherical shell 4 all the time.
Buoyancy regulating device changes the structure that has of submersible location status in water body：Buoyancy regulating device bag
Include：Water injection case, water pump and integrated valve group, water pump use one-way pump, and water is inhaled into or discharged in water injection through water pump and valve group
In case.Water injection case is tubulose loop configuration, and is set around the circle of outer Monday of interior spherical shell 4, can so make the weight phase of water
Uniform distribution is influenceed so as to be produced on eccentric moment.
After one-way pump is opened, water is automatically drawn into water injection case by water body pressure, the weight of submersible increases and surpassed
Cross its suffered buoyancy to sink to water bottom, now by rolling motion of the power set realization in water bottom.A part
After water is discharged from water injection case, the weight of submersible declines and is equal to its suffered buoyancy so that submersible swims in water body
In, the motion of submersible is now realized by propulsion plant 2.One-way pump reverse operation further discharges water, the weight of submersible
Amount is less than its suffered buoyancy and emerged so as to rise, it is possible to achieve the recovery of submersible.
The structure that transfer is realized submersible pivot stud and had is：Transfer includes：Turn to gear ring 6, turn to
Gear 11 and steering motor.Turn to gear ring 6 to be arranged on the outer wall of interior spherical shell 4, its pivot center is conllinear with first axle, such as along interior
The equatorial line of spherical shell is set.Steering motor is arranged on the inwall of outer spherical shell 1, and tooth sector 11 is arranged at the rotating shaft of steering motor
Above and with turning to gear ring 6 engage.
After the steering of steering motor, the rolling power set of interior spherical shell 4 and its inside are while its relative home position
Turn an angle, now submersible will be moved along the new orientation after turning in water bottom or land.
Propulsion plant 2 is installed using symmetric mode, and outer spherical shell 1 has respectively at its diametric two ends protrudes its outer wall
Installation portion 1.1, propulsion plant 2 is respectively arranged on each installation portion 1.1.The present invention has the installation of two kinds of propulsion plants 2
Mode, be specially：
The quantity of propulsion plant 2 on each installation portion 1.1 is two on two, same installation portion 1.1 and promotes dress
Put 2 mutual at an angle of 90 opposed.This mounting means ensures that submersible is provided which to advance, float and turn when rolling any angle
To the thrust of three degree of freedom, it is possible to achieve emergency ascent.
Embodiment two
As shown in FIG. 10 and 11, it is with the difference of embodiment one, in the present embodiment, pushing away on each installation portion 1.1
Enter device 2 quantity be one, propulsion plant 2 can ± 90 ° rotation be arranged on installation portion 1.1.Both sides under normal circumstances
Propulsion plant 2 is horizontally disposed, produces forward drive thrust.In addition, the propulsion plant 2 can be further rotated to plumbness, production
Raw floating, the thrust of dive.The installation portion has streamlined structure, and is made of transparent material, and observation can be easy to dive under water
Device internal structure.
Embodiment three
It is with the difference of embodiment one, in the present embodiment, water pump realizes water inlet and draining using two-way pump.
In order to prevent the mouth of a river of valve group by sludge blockage, therefore the mouth of a river can be arranged on the installation portion to reduce the mouth of a river
Contacted with water bottom or land.
No matter which kind of mounting means is used, and propulsion plant 2 can produce interference to the motion of the submersible after steering, therefore
The steering angle of transfer can be set as the case may be in setting range, so that avoid that 2 pairs of propulsion plant rolls into is dry
Relate to influence.
In the present invention, first axle is the Y direction in Fig. 2, and the second axle is the X-direction in Fig. 2, and X-axis is mutually hung down with Y-axis
Directly.
The submersible can be laid through lash ship, in addition during water can be rolled into from bank or it is aerial deliver, in its buoyancy regulating device
Adjustment effect be lowered into water bottom and rolled into or swum in water body motion, after task terminates, can be rolled from water bottom
Return in lash ship, overturned current submersible the tradition of lower water is hung using deck and lay way of recycling.Can be in coastal waters investigation, ice
Played a significant role in terms of lower observation, aquafarm monitoring, seabed are on duty for a long time.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these improve and deformed
Also it should be regarded as protection scope of the present invention.
Claims (10)
- The hybrid submersible of dwelling 1. a kind of rolling into based on built-in driving principle is swum more, including：Outer spherical shell and propulsion plant, its It is characterised by：Also include：Interior spherical shell, rolling power set, buoyancy regulating device and transfer；The outer spherical shell has the outer wall of a spheric, and the interior spherical shell has the inwall of a spheric；The interior spherical shell can The inside for being arranged at the outer spherical shell rotated relative to the outer spherical shell around the first direction of principal axis；The rolling power set are arranged at In the interior spherical shell, it can rotate generation eccentric moment around the second axle makes submersible advance or retreat；The buoyancy adjustment dress Put and the transfer is mounted in the space between the outer spherical shell and interior spherical shell, wherein the buoyancy regulating device energy Submersible is enough set to sink or float in water body, the transfer can drive the interior spherical shell to be rotated relative to the outer spherical shell； The first axle is perpendicular to second axle.
- The hybrid submersible of dwelling 2. a kind of rolling into based on built-in driving principle according to claim 1 is swum, it is special more Levy and be：The rolling power set include：Pivoted frame, roller, motor, controller and battery pack；It is relative on the pivoted frame Both sides be respectively mounted the roller, the inwall of the roller and the spheric is in rolling contact, and the motor drives it The roller of middle side is so that the pivoted frame can be rotated relative to the interior spherical shell；The controller is electrically connected with the motor Connect, the battery is electrically connected with the controller and the motor respectively；Wherein, the motor and battery it is eccentrically mounted on the pivoted frame so that the rolling power set produce it is eccentric Torque.
- The hybrid submersible of dwelling 3. a kind of rolling into based on built-in driving principle according to claim 2 is swum, it is special more Levy and be：The pivoted frame includes：Center bearing bracket and elastic support, the roller is respectively arranged in the center bearing bracket and elasticity is propped up On frame；The elastic support is made up of the elastic connection along two side wheel centerline directions spring and the center bearing bracket, from And two side wheels is contacted all the time with the inwall of the spheric.
- The hybrid submersible of dwelling 4. a kind of rolling into based on built-in driving principle according to claim 1 is swum, it is special more Levy and be：Buoyancy regulating device include water injection case, water pump and integrated valve group, water be inhaled into through the water pump and the valve group or Discharge in the water injection case.
- The hybrid submersible of dwelling 5. a kind of rolling into based on built-in driving principle according to claim 4 is swum, it is special more Levy and be：Water injection case loop configuration in a tubular form, encloses around the outer Monday of the interior spherical shell and sets.
- The hybrid submersible of dwelling 6. a kind of rolling into based on built-in driving principle according to claim 1 is swum, it is special more Levy and be：The transfer includes：Turn to gear ring, tooth sector and steering motor；The steering gear ring is arranged in described On the outer wall of spherical shell, the steering motor is arranged on the inwall of the outer spherical shell, and the tooth sector is arranged at the steering Engaged in the rotating shaft of motor and with the steering gear ring.
- The hybrid submersible of dwelling 7. a kind of rolling into based on built-in driving principle according to claim 1 is swum, it is special more Levy and be：The outer spherical shell has the installation portion for protruding its outer wall, the propulsion plant point at its diametric two ends respectively It is not arranged on each installation portion.
- The hybrid submersible of dwelling 8. a kind of rolling into based on built-in driving principle according to claim 7 is swum, it is special more Levy and be：The quantity of propulsion plant on each installation portion is two propulsion plants and vertical line on two, same installation portion It is arranged symmetrically, mutually at an angle of 90.
- The hybrid submersible of dwelling 9. a kind of rolling into based on built-in driving principle according to claim 7 is swum, it is special more Levy and be：The quantity of propulsion plant on each installation portion is one, and what the propulsion plant was capable of ± 90 ° of rotations is arranged at institute State on installation portion.
- The hybrid diving of dwelling 10. a kind of rolling into based on built-in driving principle according to claim 1 to 9 is any is swum more Device, it is characterised in that：Some convex tactile structure or groove texture structure are distributed with the outer wall of the outer spherical shell to increase water Bottom rubs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720061096.1U CN206466144U (en) | 2017-01-19 | 2017-01-19 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720061096.1U CN206466144U (en) | 2017-01-19 | 2017-01-19 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
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| CN206466144U true CN206466144U (en) | 2017-09-05 |
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|---|---|---|---|
| CN201720061096.1U Withdrawn - After Issue CN206466144U (en) | 2017-01-19 | 2017-01-19 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828831A (en) * | 2017-01-19 | 2017-06-13 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
-
2017
- 2017-01-19 CN CN201720061096.1U patent/CN206466144U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828831A (en) * | 2017-01-19 | 2017-06-13 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
| CN106828831B (en) * | 2017-01-19 | 2018-01-16 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170905 Effective date of abandoning: 20180116 |