CN208007255U - A kind of miniature submariner device - Google Patents
A kind of miniature submariner device Download PDFInfo
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- CN208007255U CN208007255U CN201820454930.8U CN201820454930U CN208007255U CN 208007255 U CN208007255 U CN 208007255U CN 201820454930 U CN201820454930 U CN 201820454930U CN 208007255 U CN208007255 U CN 208007255U
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- 238000010146 3D printing Methods 0.000 claims abstract description 38
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- 238000005245 sintering Methods 0.000 description 11
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
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- 239000005030 aluminium foil Substances 0.000 description 2
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Abstract
The utility model discloses a kind of miniature submariner devices, miniature submariner device includes semiclosed metal shell head and body, body outer surface is pasted with solar panel, body is fixedly provided with rechargeable battery, controller, communication module and sensor assembly, propeller is equipped at body closed end, body side is equipped with rudder, balancing stand is equipped at body inside center, the swing of electromagnet adjustment frame promotes high density liquid to be flowed between left container and right container.The utility model optimizes its surface structure and position of centre of gravity, and semiclosed metal shell is processed using 3D printing technique, energy molding thickness is thin in the case of proof strength, and internal various supports, fixed frame, rib etc. can be integrally formed, and substantially alleviate containment weight.
Description
Technical field
The utility model is related to a kind of military unmanned submariner device more particularly to a kind of miniature submariner devices.
Background technology
Autonomous underwater vehicle is also referred to as dived under water robot, is to investigate device in a kind of important water, be widely used in it is military and
The underwater operation of the high risks such as detection, investigation, the lifesaving of civil field or even USN developing have it is aggressive
Underwater unmanned submariner system, therefore the development and application foreground of autonomous underwater vehicle is rather good.Autonomous underwater vehicle one small-sized at present
As be cylindrical type appearance, 1 meter of length or more, 0.3 meter of diameter or more.Although its smaller concealment of the size of autonomous underwater vehicle is got over
Well, several bottlenecks are encountered when but size miniaturises：（1）The outer housing of autonomous underwater vehicle is usually metal manufacture, by
The limitation of production material and processing technology, shell and internal unit holder form for assembly and connection, the weight of shell, connector,
The weight etc. of fastener etc. accounts for the large percentage of total weight, and it is limited that interior spatial structure continues optimization degree；Some nonmetallic materials
Outer housing need to use thicker shell, volume and weight is larger to ensure mechanical property.（2）Common fixed power source or
The volume and weight of temperature difference electricity generation device is larger, limits the space of miniaturization.Therefore the further of autonomous underwater vehicle is realized
Miniaturization, it is necessary to using new material, new process, new construction.
In recent years, the research of metal 3D printing technique just deeply expansion at home and abroad, using selective laser sintering as principle
Metal 3D printing equipment be capable of the metal parts of straight forming arbitrary shape in principle, therefore processed using 3D printing technique light
Matter alloy shell substitutes traditional casting and machining, it will greatly reduces the weight and volume of shell, and to internal structure
Connector carries out integrated printing shaping, realizes optimization of inside structure under the premise of ensureing mechanical property, is greatly reduced simultaneously
The usage quantity of connector, this is a break-through point for realizing autonomous underwater vehicle micromation.But the reality of metal material 3D printing
Technical process wants the more of complexity, and the optimal printing technique and parameter configuration of various metal materials are not sought unity of standard, different former materials
There is very big difference in the performance of material, even if the part of same metal material printing different structure, printing technology and Row control,
The design and removing method of support and post-processing method etc. are also different, need to carry out a large amount of experimental test, explore most
The process design of Optimizing Process Parameters, especially metal 3D printing to combine closely with the structure design of part and Xiang Fuxiang
At best implementation result could be obtained.The most thin size of the thickness of metal 3D printer forming part is 0.1-0.2mm left at present
The right side can realize different-thickness, the reinforcing rib of shape, fixed plate or link and part global shape during one-pass molding
Integration complete, the parameters such as shape, thickness, intensity of institute's forming part substantially breach traditional casting and forming, extrusion forming,
The usage quantity of connector is greatly reduced in the case where ensureing mechanical property for the limitation of the techniques such as welding fabrication, realizes
The optimization of part overall dimensions and shape, size micromation and own wt are greatly reduced, and can be functional parts
Installation provides the space of bigger.
Based on the above reason, the utility model devises a kind of using magnesium alloy as the semiclosed super thin metal shell of material
3D printing method, and devise a kind of miniature submariner device as outer housing.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of miniature submariner device, the device to its surface structure and
Position of centre of gravity optimizes, and processes semiclosed metal shell using 3D printing technique, can be molded in the case of proof strength
Thickness is thin, and internal various supports, fixed frame, rib etc. can be integrally formed, and substantially alleviate containment weight.
In order to solve the above technical problems, technical solution adopted in the utility model is：A kind of miniature submariner device, it is special
Sign is to include semiclosed metal shell head and body, and metal shell head and body are fastened and connected, and forms a capsul
Body；The shell head main body is cone, and the body main body is the closed cylinder in a side end face, and body outer surface is pasted with
Solar panel, body are fixedly provided with rechargeable battery, controller, communication module and sensor assembly, body closed end
Place is equipped with propeller, and body side is equipped with rudder, is equipped with balancing stand at body inside center, the balancing stand includes left appearance
The conduit of device, right container and hard, conduit is left container and right reservoir and seals, and left container is the semi-round ball to raise up
Describe that device, lower plane keep horizontal with conduit, right container is downwardly convex conical vessel, and top incline keeps water with conduit
It is flat, equipped with high density liquid is contained in left container, right container and conduit, be equipped with link in the middle part of the conduit, link with
Body inner wall mounts, and is equipped with metal connector sleeve close to the catheter surface of left container, is equipped with and is fixed in body right over connector sleeve
The electromagnet of wall, electromagnet attract each other with connector sleeve, and the swing of electromagnet adjustment frame promotes high density liquid in left appearance
It is flowed between device and right container.
Said program is further limited, the shell head includes Conical Shells With head, inner support plate, top board, shell head
Warehouse and clip plate, shell head are the integrally formed cone of 3D printing, side of the Conical Shells With head as cone, in Conical Shells With
Head surface is equipped with lens, and bottom surface of the inner support plate as cone is fixed with camera, camera and lens pair in inner support plate
Just, inner support plate is equipped with circular hole；Shell head warehouse is tightly connected with the body, and top board is located on the outside of shell head warehouse, is fixed too
Positive energy solar panel, clip plate are located on the inside of shell head warehouse, the driving steering engine of fixed-direction rudder.
Said program is further limited, the cone-apex angle of the Conical Shells With head is 55 °~75 °, top board and circular cone
Shell head coupling part expands outwardly, and expansion angle is 10 °~20 °.
Said program is further limited, the body is by semi-enclosed body warehouse and leading positioned at blind end
Guide vane forms, and wherein body warehouse side is surrounded by a planar section and a disc part, the outer surface of planar section
Solar panel is pasted, the inner surface of planar section is equipped with magnet fixed frame and hanger, wherein magnet fixed frame Motionless electromagnetic
Iron, hanger lift balancing stand, and disc part is equipped with battery retaining boards and hole steering engine mounting plane.
Said program is further limited, the body warehouse inner surface is circumferentially distributed body rib, body storehouse
Body gusset is distributed in body inner surface axial, and the body bottom case inner surface of the body warehouse is equipped with motor fixing frame.
Said program is further limited, body rib cross section is trapezoidal, bottom surface angle is 20 °~
40 °, the hanger cross section is trapezoidal, and height is 2~3mm, and bottom surface angle is 20 °~35 °, and the magnet fixed frame is transversal
Face is trapezoidal, and height is 1.5~2mm, and bottom surface angle is 20 °~35 °.
Said program is further limited, the body and magnet fixed frame, hanger, body rib, body gusset,
Motor fixing frame, battery retaining boards, hole steering engine mounting plane are integrally formed for 3D printing.
It is using advantageous effect caused by above-mentioned technical proposal：
（1）The shell of miniature submariner device uses magnesium-aluminium alloy material in the utility model, passes through metal 3D printing method
Flow and scheme be processed design, scheme is reasonable, and safety coefficient is high, avoids the danger of magnesium alloy superfines explosive
Danger, and printing effect is high, is molded and treated shell tensile strength, compression strength, surface quality, thickness of shell, structure
The indexs such as performance, size requirement fully meet mechanical property and design requirement；
（2）The body warehouse of 3D printing molding magnesium alloy material makes structure innovation in the utility model, greatly alleviates
Whole weight and volume, especially the body rib and body gusset of integrated molding, in the case of proof strength, substantially
Shorten the thickness of body warehouse；The usage quantity of connector is greatly reduced in the internal fixing device of integrated molding, is not required to
Complicated transmission chain is wanted, overall weight is further reduced；
（3）After the surface structure of miniature submariner device and position of centre of gravity optimize in the utility model, make solar panel
It can be maintained on the water surface and persistently obtain solar energy, charge for rechargeable battery, it is big to avoid traditional temperature difference electricity generation device volume
And the shortcomings that needing uninterruptedly to move between not stratospheric waters；
（4）The utility model overall structure is simple and direct, compact, is easy to safeguard, of low cost, and can be compared with when working
The mesh or protective fence for easily propagating through large-scale fishing net, are not easy to be found.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the three-dimensional appearance schematic diagram of miniature submariner device；
Fig. 2 is the overall structure sectional view of miniature submariner device；
Fig. 3 is the structure sectional view of shell head 1；
Fig. 4 is the G of shell head 1 to schematic diagram；
Fig. 5 is the structure sectional view of body 5；
Fig. 6 is the B of body 5 to sectional view；
Fig. 7 is the 3D printing artwork of body 5；
Fig. 8 is the schematic enlarged-scale view of body rib 5-4；
Fig. 9 is the schematic enlarged-scale view of hanger 5-3；
Figure 10 is the schematic enlarged-scale view of magnet fixed frame 5-2；
Figure 11 is the A of balancing stand 7 to structural schematic diagram；
Figure 12 is the 3D printing artwork of shell head 1；
Figure 13 is the 3D printing grid type point support schematic diagram of shell head 1；
Figure 14 is the 3D printing mixing support schematic diagram of body 5；
In figure：1, shell head, 2, lens, 3, camera, 4, solar panel, 5, body, 6, electromagnet, 7, balance
Frame, 8, motor, 9, propeller, 10, controller, 11, rechargeable battery, 12, communication module, 13, sensor assembly, 14, rudder,
15, steering engine；
1-1, Conical Shells With head, 1-2, inner support plate, 1-3, top board, 1-4, shell head warehouse, 1-5, clip plate；
5-1, body warehouse, 5-2, magnet fixed frame, 5-3, hanger, 5-4, body rib, 5-5, body gusset, 5-6, shell
Body bottom case, 5-7, guide vane, 5-8, motor fixing frame, 5-9, battery retaining boards, 5-10, communication module hole, 5-11, sensor die
Block, 5-12, hole steering engine mounting plane；
7-1, left container, 7-2, connector sleeve, 7-3, conduit, 7-4, link, 7-5, right container；
A, substrate, A1, point support, A2, line support, A3, face support, A4, combined support, A5, cross hang.
Specific implementation mode
With reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that and described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Attached drawing 1 is the miniature submariner device overall appearance structure in the utility model, interior spatial structure such as Fig. 2 institutes
Show, includes mainly：Shell head 1, lens 2, camera 3, solar panel 4, body 5, electromagnet 6, balancing stand 7, motor 8,
Propeller 9, controller 10, rechargeable battery 11, communication module 12, sensor assembly 13, rudder 14, steering engine 15；The shell in left side
Body head 1 is connect with intermediate body 5, and the lower end of body 5 is cylindric, and upper end is planar, and solar cell is fixed in plane
The right end of plate 4, body 5 installs propeller 9.
The structure of its middle casing head 1 is as shown in Figure 3 and Figure 4, including：Conical Shells With head 1-1, inner support plate 1-2, top board 1-
3, shell head warehouse 1-4, clip plate 1-5；Shell head 1 be 3D printing be integrally formed, left side be Conical Shells With head 1-1, section it is upper,
Be MN and ML below, inner support plate 1-2 is vertical circular planes, and centre stays circular hole, with Conical Shells With head 1-1 be 3D printing one at
Type, NR are the upper end plane area section of shell head warehouse 1-4, and XT is cylindrical zone section, and PQ is the plane area section of top board 1-3,
NP is beveled region section, and WS is plane area section, and the left end of WS planes is integrally formed with the downside 3D printing of inner support plate 1-2.
The design of 1 each section 3D printing technological angle of shell head is as shown in Figure 3：T, 4 lines of S, R, Q are on same vertical plane, 75 °
MLN >=55 ° >=∠, MNL >=55 ° 75 ° >=∠, NPQ >=145 ° 165 ° >=∠, MLX=180 ° ∠, i.e. MLX be straight line, 180 ° >=
∠MNP≥150°；After Conical Shells With head 1-1 one 3D printings molding, a hole, Mei Gekong are respectively opened up in the upper and lower side of circular conical surface
Upper sealing is bonded one piece of lens 2, as shown in Fig. 2, two cameras 3 are fixed on the upper of inner support plate 1-2, camera 3 is found a view
Device distinguishes face lens 2.
5 interior spatial structure of body is as shown in Figure 5 and Figure 6, including：Body warehouse 5-1, magnet fixed frame 5-2, hanger 5-
3, body rib 5-4, body gusset 5-5, body bottom case 5-6, guide vane 5-7, motor fixing frame 5-8, battery retaining boards 5-9,
Communication module hole 5-10, sensor assembly hole 5-11, steering engine mounting plane 5-12；Body 5 is integrally formed for 3D printing, body storehouse
The upper surface of body 5-1 is planar, and lower surface is cylindric, and centre is cavity, and left end is opening port and bore is shunk and shell head
The outer diameter of warehouse 1-4 is equal, and right end is closed by body bottom case 5-6, the right outer side edge edge of body bottom case 5-6, integrated 3D printing
Multiple guide vane 5-7；In the inner wall upper end of body warehouse 5-1, integrated 3D printing one magnet fixed frame 5-2 and a hanger 5-
3；In the longitudinal direction of body warehouse 5-1 inner walls, the integrated a plurality of body rib 5-4 of 3D printing, a plurality of body muscle of lateral one 3D printing
One motor fixing frame 5-8 of Left-side center position one 3D printing of plate 5-5, body bottom case 5-6, the inner wall of body warehouse 5-1
Downside one 3D printing two battery retaining boards 5-9, battery retaining boards 5-9 had both played the role of fixed rechargeable battery 11, had also risen
To the effect of body gusset 5-5；Integrated one platform of 3D printing is as steering engine on the downside inner cylindrical wall of body warehouse 5-1 left ends
Mounting plane 5-12 opens up two holes on the side wall of body warehouse 5-1, is communication module hole 5-10 and sensor assembly hole respectively
5-11.5 each section printing technology angle of body is as shown in Figure 7：Body rib 5-4 is illustrated in figure 8 structure symmetrical above and below, ∠ f
≤ 40 °, hanger 5-3 is illustrated in figure 9 structure symmetrical above and below, g≤35 ° ∠, 2mm≤y≤3mm, magnet fixed frame 5-2 such as Figure 10
It show structure symmetrical above and below, h≤35 ° ∠, 1.5mm≤z≤2mm.
The space structure of balancing stand 7 as shown in figs. 2 and 11, including：Left container 7-1, connector sleeve 7-2, conduit 7-3, connect
Meet frame 7-4, right container 7-5；Left container 7-1 is closed bowl-shape, and right end edge is open connecting conduit 7-3, right container 7-5 as envelope
The beaker shape closed, the conduit 7-3 sealings that left end edge opening connecting conduit 7-3, left container 7-1 and right container 7-5 passes through hard
A connector sleeve 7-2 is fixedly mounted in the left-external side of connection, conduit 7-3, and a link 7-4 is fixedly mounted in middle.
The length of the miniature submariner device of the utility model is 200-900mm, width（Diameter）For 50-300mm, body 5
As shown in Fig. 2, the upper ends link 7-4 of balancing stand 7 are inserted in hanger 5-3, the upper end of electromagnet 6 is fixed on interior spatial structure
On magnet fixed frame 5-2, connector sleeve 7-2 is fixedly connected with the tache motorice of electromagnet 6, and left container 7-1 is in bowl-shape, the lower plane of back-off
Horizontal with conduit 7-3, right container 7-5 is to tilt beaker shape, and top incline is horizontal with conduit 7-3, and mercury is contained in right container 7-5
Or other high density liquids, when balancing stand 7 is in horizontality, liquid is just placed in right container 7-5；Rechargeable battery 11 is placed in
Between the lower end two panels battery retaining boards 5-9 of body 5, be adhesively fixed rudder on the steering engine mounting plane 5-12 in 11 left side of rechargeable battery
The rotation axis of machine 15, steering engine 15 is pierced by downwards body 5 by the sealing axle sleeve on body 5, rotates shaft head connection side to rudder 14；
Be adhesively fixed motor 8 in motor fixing frame 5-8 in body 5, and the rotary shaft of motor 8 passes through the sealing axis on body bottom case 5-6
Set is pierced by body bottom case 5-6, and the head of rotary shaft connects propeller 9；On communication module hole 5-10 and sensor assembly hole 5-11
Communication module 12 and sensor assembly 13 are installed respectively and sealed.
The right end of shell head warehouse 1-4 and the left end of body warehouse 5-1 of shell head 1 are fastened and connected, miniature submariner dress
Internal formation confined space is set, the right end of clip plate 1-5 is pressed in the top of steering engine 15；Solar panel 4 is fixed on body storehouse
On the upper transverse plane of body 5-1, the left end of solar panel 4 further fastens fixation by top board 1-3；Shell head 1 and body 5
After being fixedly connected and internal part is after installation is complete, makes whole center of gravity in the centre position of miniature submariner device lower part, and lead to
Crossing counterweight makes the global density of device be less than or equal to the 0.9 of work waters density.
Solar panel 4 in the utility model can choose to install the solar panel with auto-folder function.
The design technology and metal 3D printing method of semiclosed super thin metal shell in the utility model are as follows：
It is magnesium alloy that shell head 1 and body 5, which select material, and technical parameter is：The magnesium alloy trade mark：AZ91D, grain size point
26-68 microns of cloth range, 44.5 microns of average grain diameter, chemical composition such as following table：
The design technology and metal 3D printing method of shell head 1 are as shown in Figure 12 and Figure 13：
（1）One piece of planar substrates A is fixed on the internal work platform of metal 3D printer, is placed magnalium on substrate A and is closed
Bronze end, 120 DEG C of substrate A preheating temperatures, ar gas environment built in forming bin, oxygen content threshold value 500ppm recycle pump frequency 37Hz,
Laser power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μm of lift height.
（2）3D printing sintering magnesium alloy face supports A3 first on substrate A, as shown in figure 12, thickness 1-2mm, laser
Scan mode uses checkerboard type scan mode；Continuation sinterskin head warehouse 1-4 after the completion of face supports A3 to be molded, i.e. XT arc surfaces,
NR straight panels face, XT arc surfaces and the faces NR integrated molding, laser scanning methods are scanned using concentric type, thickness 0.2-0.4mm；Together
Step sintering clip plate 1-5, i.e. WS straight panels face；The straight pan sections of PQ of synchronous sintering top board 1-3；Synchronous sintering inner support plate 1-
2, i.e., the grid type point under the faces LN supports A1, grid spacing 0.6-0.7mm, grid edge development length 0.3mm, single Grid Edge
Long 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded inner support plate 1-2 depth 0.2mm.
（3）Plane where sinter molding to X and P points, laser head are sintered direction adjust automatically, start to be sintered Conical Shells With head 1-
1 XL tapers arc-shaped edges and the inclined-planes PN of top board 1-3（MLN >=55 ° 75 ° >=∠, NPQ >=145 ° 165 ° >=∠, when sintering
It is not required to plus supports）, synchronize the WS straight panels face for continuing to be sintered clip plate 1-5, the synchronous sintering faces WN and the faces LW roundness mess below
Formula point supports A1, is sintered to circular planes where LW always.
（4）In the case where grid type point supports A1, start the LW circular planes for being sintered inner support plate 1-2；Synchronize continue be sintered LM,
NM taper arc-shaped edges（MNL >=55 ° 75 ° >=∠, MNL >=55 ° 75 ° >=∠, when sintering, is not required to plus support,）Until being sintered to M points,
Complete the 3D printing process of shell head 1.
（5）It is to be cooled to arrive room temperature after integral sintered, carry out heat treatment process after molding, including solution treatment and
Artificial aging：It after removal support, polishing, is cleaned with absolute ethyl alcohol, dries rear surfaces externally and internally and uniformly smear one layer of graphite powder,
It is wrapped up with aluminium-foil paper；Solution treatment is carried out in atmosphere protection heating furnace, is heated within 1 hour 415 DEG C, is kept the temperature 24 hours, is put into
It is taken out after 2 seconds in 80 DEG C of hot water air-cooled；Artificial aging is carried out in atmosphere protection heating furnace, is heated within 20 minutes 175 DEG C, heat preservation
It 16 hours, takes out air-cooled.
（6）Surface treatment：It is polished using the inner and outer surfaces that polishing tool is shell head 1, using boring bar tool in front end
The upper and lower side of circular conical surface opens up two holes, is polished the right end of the XT and NR of the warehouse of shell head shown in Fig. 3 1-4 using milling tools
Inner chamfer.
The design technology and metal 3D printing method of body 5 are as shown in Fig. 7 and Figure 14：
（1）One piece of planar substrates A, substrate A preheating temperatures 120 are fixed on the internal work platform of metal 3D printer
DEG C, magnesium alloy powder, ar gas environment built in forming bin are placed on substrate A, oxygen content threshold value 500ppm recycles pump frequency
37Hz, laser power 180W, 70 microns, laser scanning speed 450mm/s of spot diameter, 80 μm of sweep span, 50 μ of lift height
m。
（2）3D printing sinter molding magnesium alloy face supports A3, laser scanning to be scanned using checkerboard type first on substrate A
Mode, thickness 2-3mm continue the lower end for being sintered guide vane 5-7 after the completion of face support A3 moldings, synchronous to be sintered on face support A3
Mixing support on the downside of bottom case 5-6, mixing support include mesh point support A1, line support A2 and cross hang A5, laser scanning
Using stripscan mode, grid type point supports grid spacing 0.6-0.7mm, the grid edge development length 0.3mm of A1, individually
Side length of element 2mm, grid tooth high 0.5mm, facewidth 0.3mm, embedded body bottom case 5-6 depth 0.2mm；Line supports the edges A2 to extend
Length 0.3mm, width 0.3mm, embedded body bottom case 5-6 depth 0.2mm；The edges cross hang A5 development length 0.3mm, width
0.3mm, embedded body bottom case 5-6 depth 0.2mm.
（3）After the completion of guide vane 5-7 and mixing support are sintered, under the common support of guide vane 5-7 and mixing support, open
Begin sintering bottom case 5-6 circular flats, and the thickness of bottom case 5-6 is set as 0.4-0.8mm.
（4）After the completion of bottom case 5-6 sintering, continue to be sintered body warehouse 5-1, synchronous sintering motor fixing frame 5-8, body muscle
Plate 5-5, battery retaining boards 5-9, the wherein thickness of body warehouse 5-1 are 0.2-0.4mm, and motor fixing frame 5-8 justifies for hollow class
The appearance and size of cylindricality, internal diameter and motor 8 is identical with shape, thickness 0.2-0.3mm, and the thickness of body gusset 5-5 is 0.2-
The thickness of 0.3mm, battery retaining boards 5-9 are 0.2-0.3mm；It is sintered during body warehouse 5-1, the ∠ f of body rib 5-4≤
40 °, thickness 0.4-0.6mm need not support direct firing；G≤40 ° ∠ of hanger 5-3, the width of thickness 0.2-0.4mm, y
2-3mm need not support direct firing；H≤40 ° ∠ of magnet fixed frame 5-2, the width 1.5- of thickness 0.2-0.4mm, z
2mm need not be arranged support and directly fire；The inner arc surface thickening that steering engine mounting plane 5-12 is body warehouse 5-1 sinters into
One plane stablizes installation convenient for steering engine 15；Be sintered to the upper end of body warehouse 5-1, bore shrink sintering and with shell head warehouse
The outer diameter of 1-4 is equal.
（5）It is to be cooled to arrive room temperature after integral sintered, carry out heat treatment process after molding, including solution treatment and
Artificial aging：It after removal support, polishing, is cleaned with absolute ethyl alcohol, dries rear surfaces externally and internally and uniformly smear one layer of graphite powder,
It is wrapped up with aluminium-foil paper；Solution treatment is carried out in atmosphere protection heating furnace, is heated within 1 hour 415 DEG C, is kept the temperature 24 hours, is put into
It is taken out after 2 seconds in 80 DEG C of hot water air-cooled；Artificial aging is carried out in atmosphere protection heating furnace, is heated within 20 minutes 175 DEG C, heat preservation
It 16 hours, takes out air-cooled.
（6）Surface treatment：Using the appearance mirror polish that polishing tool is body 5, the circular cone using boring bar tool in front end
The upper and lower side in face opens up two holes, is washed away inside body 5 and is polished using polishing fluid high speed, removes interior metal residue.
This miniature submariner device is devoted to the state behind predetermined waters：The present apparatus generally sealing state, device it is whole
Volume density is set lower than the 0.9 of work waters density, and the motor column of electromagnet 6 is in pulling force adsorbed state to connector sleeve 7-2, makes
Balancing stand 7 keeps horizontal, and the counterweights such as internal mercury liquid is in right container 7-5, this miniature submariner device keeps horizontal at this time
State, and the center of gravity of internal component, in the lower middle position of body 5, therefore, present apparatus level is swum on the water surface, solar energy
Solar panel 4 can expose the surface to be shined upon and charge for rechargeable battery 11 upward always.
The water surface is cruised sense mode：Under the control of controller 10, rechargeable battery 11 is that motor 8 provides the energy, and motor 8 drives
Dynamic propeller 9 rotates, and under the guiding control for the rudder 14 that steering engine 15 drives, realizes the water surface motion of automobile；Camera 3 takes
Scape device can be carried out on the water surface through lens 2 and the video acquisition of underwater；Communication module 12 and sensor assembly 13 can be real
Existing information communication and corresponding data acquisition.
Underwater sense mode：The motor column that controller 10 controls electromagnet 6 moves downward, and connector sleeve 7-2 is pushed to synchronize fortune
It is dynamic, and then left container 7-1 is moved downward, right container 7-5 is moved upwards, and the mercury class I liquid I in right container 7-5 flows into left container
In 7-1, the whole gravity motion of miniature submariner device has arrived lower left side, and shell head 1 tilts downward, after propeller 9 rotates at this time
So that whole device is tilted towards sub-aqua sport, realizes and underwater detection is investigated；As the ∠ MNP of Conical Shells With head 1-1 and top board 1-3
<At 180 °, MNP is inclined-plane, and when to sub-aqua sport, the resistance in the faces MNP is greater than the faces MLX, can by controlling the angle of MNP
Control gradient of the miniature submariner device to sub-aqua sport；When miniature submariner device dive is to predetermined depth, propeller 9 is controlled
It stops operating, for the motor column of electromagnet 6 by 7 pull-up of balancing stand, mercury class I liquid I flows back to right container 7-5, and miniature submariner device is extensive
Rehydration level state, since the global density of miniature submariner device is less than the 0.9 of surrounding body density, miniature submariner device independently delays
It is slow to float to the water surface, and can continue to keep the function of detection investigation in floating-upward process；After floating to the water surface, solar panel
4 charge for rechargeable battery 11.
Cluster launches detecting mode：Multiple minitype detecting devices are launched to predetermined waters, the working condition of each monomer
Differ, can realize the multi-source synchronous acquisition to the water surface and water-bed investigation detection data.
Miniature self-destroying function can be installed additional on 2 side of lens in miniature submariner device, within the set time controller
10 cannot obtain communication data, assert that the individual loses the contact with base, it is most thin that controller 10 controls self-desttruction equipment destruction
It, i.e. can cascading water bottom after water inlet in device at weak lens or at sealing.
Based on above-mentioned performance, magnesium alloy shell is processed by metal 3D printing technique, compared to other metals
The density of magnesium alloy is small, and intensity is high, and energy molding thickness is thin in the case of proof strength, and internal various supports, fixation
Frame, rib etc. can be integrally formed, and substantially alleviate containment weight.
Claims (7)
1. a kind of miniature submariner device, it is characterised in that including semiclosed metal shell head（1）And body（5）, metal shell head
（1）And body（5）It is fastened and connected, forms a seal casinghousing；The shell head（1）Main body is cone, the body
（5）Main body is the closed cylinder in a side end face, body（5）Outer surface is pasted with solar panel（4）, body（5）It is internal
It is installed with rechargeable battery（11）, controller（10）, communication module（12）And sensor assembly（13）, body（5）At closed end
Equipped with propeller（9）, body（5）Side is equipped with rudder（14）, body（5）Balancing stand is equipped with inside center（7）, described flat
Weigh frame（7）Including left container（7-1）, right container（7-5）With the conduit of hard（7-3）, conduit（7-3）Left container（7-1）With
Right container（7-5）It is connected to and seals, left container（7-1）For the semicircle spherical container to raise up, lower plane and conduit（7-3）
Keep horizontal, right container（7-5）For downwardly convex conical vessel, top incline and conduit（7-3）Keep horizontal, in left container
（7-1）, right container（7-5）And conduit（7-3）Interior be equipped with contains high density liquid, the conduit（7-3）Middle part is equipped with link
（7-4）, link（7-4）With body（5）Inner wall mounts, close to left container（7-1）Conduit（7-3）Surface is connected equipped with metal
Set（7-2）, connector sleeve（7-2）Surface, which is equipped with, is fixed on body（5）The electromagnet of inner wall（6）, electromagnet（6）With connector sleeve
（7-2）It attracts each other, electromagnet（6）Adjustment frame（7）Swing, promote high density liquid in left container（7-1）With right appearance
Device（7-5）Between flow.
2. a kind of miniature submariner device according to claim 1, it is characterised in that the shell head（1）Including Conical Shells With head
（1-1）, inner support plate（1-2）, top board（1-3）, shell head warehouse（1-4）And clip plate（1-5）, shell head（1）For 3D printing
Integrally formed cone, Conical Shells With head（1-1）As the side of cone, in Conical Shells With head（1-1）Surface is equipped with lens
（2）, inner support plate（1-2）As the bottom surface of cone, inner support plate（1-2）On be fixed with camera（3）, camera（3）With
Lens（2）To just, inner support plate（1-2）Equipped with circular hole；Shell head warehouse（1-4）With the body（5）It is tightly connected, top board
（1-3）Positioned at shell head warehouse（1-4）Outside, fixed solar panel（4）, clip plate（1-5）Positioned at shell head warehouse（1-4）It is interior
Side, fixed-direction rudder（14）Driving steering engine（15）.
3. a kind of miniature submariner device according to claim 2, it is characterised in that the Conical Shells With head（1-1）Cone-apex angle
It is 55 °~75 °, top board（1-3）With Conical Shells With head（1-1）Coupling part expands outwardly, and expansion angle is 10 °~20 °.
4. a kind of miniature submariner device according to claim 1, it is characterised in that the body（5）It is by semi-enclosed shell
Body warehouse（5-1）With the guide vane positioned at blind end（5-7）Composition, wherein body warehouse（5-1）Side is by a planar portions
Divide and a disc part surrounds, solar panel is pasted in the outer surface of planar section（4）, the inner surface of planar section is equipped with
Magnet fixed frame（5-2）And hanger（5-3）, wherein magnet fixed frame（5-2）Fixed electromagnet（6）, hanger（5-3）Lifting balance
Frame（7）, disc part is equipped with battery retaining boards（5-9）With hole steering engine mounting plane（5-12）.
5. a kind of miniature submariner device according to claim 4, it is characterised in that the body warehouse（5-1）Inner surface week
To body rib is distributed with（5-4）, body warehouse（5-1）Body gusset is distributed in inner surface axial（5-5）, the body warehouse
（5-1）Body bottom case（5-6）Inner surface is equipped with motor fixing frame（5-8）.
6. a kind of miniature submariner device according to claim 5, it is characterised in that the body rib（5-4）Cross section is
Trapezoidal, bottom surface angle is 20 °~40 °, the hanger（5-3）Cross section is trapezoidal, and height is 2~3mm, and bottom surface angle is
20 °~35 °, the magnet fixed frame（5-2）Cross section is trapezoidal, and height is 1.5~2mm, and bottom surface angle is 20 °~35 °.
7. a kind of miniature submariner device according to claim 5 or 6, it is characterised in that the body（5）And magnet is fixed
Frame（5-2）, hanger（5-3）, body rib（5-4）, body gusset（5-5）, motor fixing frame（5-8）, battery retaining boards（5-
9）, hole steering engine mounting plane（5-12）It is integrally formed for 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820454930.8U CN208007255U (en) | 2018-04-03 | 2018-04-03 | A kind of miniature submariner device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820454930.8U CN208007255U (en) | 2018-04-03 | 2018-04-03 | A kind of miniature submariner device |
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| CN208007255U true CN208007255U (en) | 2018-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11673636B1 (en) | 2022-01-31 | 2023-06-13 | Composite Energy Technologies, Inc. | Unmanned underwater vehicle having monocoque body |
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- 2018-04-03 CN CN201820454930.8U patent/CN208007255U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11673636B1 (en) | 2022-01-31 | 2023-06-13 | Composite Energy Technologies, Inc. | Unmanned underwater vehicle having monocoque body |
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Granted publication date: 20181026 |