CN209956191U

CN209956191U - Multi-shaft submersible capable of hovering

Info

Publication number: CN209956191U
Application number: CN201920366486.9U
Authority: CN
Inventors: 叶峥; 康建军; 于丽萍
Original assignee: Shanghai Rainbow Fish Deep-Sea Equipment Technology Co Ltd
Current assignee: Shanghai Rainbow Fish Deep-Sea Equipment Technology Co Ltd
Priority date: 2019-03-20
Filing date: 2019-03-20
Publication date: 2020-01-17
Anticipated expiration: 2029-03-20

Abstract

The utility model relates to a multiaxis submarine that can hover, including submarine body (10), still include with 2n vertical thruster (20) of submarine body (10) for center, symmetric distribution, n is more than or equal to 2's integer, the submarine wholly presents positive buoyancy state. Compared with the prior art, the utility model discloses because self positive buoyancy state, the automatic surface of water that floats of submersible when equipment trouble is convenient, safe and reliable, and can realize freely nimble realization dive, come-up, hover, remove and turn to through perpendicular propeller.

Description

Multi-shaft submersible capable of hovering

Technical Field

The utility model relates to a submersible, especially, relate to a multiaxis submersible that can hover.

Background

At present, the diving and moving modes of the submersible are that the submersible keeps zero buoyancy in water, and when diving is needed, the gravity of the submersible is larger than the buoyancy by adding ballast, or a vertical propeller is opened to propel the submersible downwards; when the diving instrument needs to float upwards, the weight of the diving instrument is smaller than the buoyancy force by reducing the ballast, or the vertical propeller is opened to push the diving instrument upwards. When the depth is not changed without floating or diving, the diving device closes the vertical propeller and keeps the ballast to keep the diving device at zero buoyancy.

Under the condition that the ballast adjusting device and the propeller of the submersible are invalid, the gravity of the submersible is possibly larger than the buoyancy all the time, the submersible sinks all the time and cannot safely float to the water surface by depending on the self capacity, and the safety of passengers is brought with danger.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to overcoming the above-mentioned deficiencies of the prior art and providing a multi-axis hovering submersible.

The purpose of the utility model can be realized through the following technical scheme:

a multi-shaft hovering submersible comprises a submersible body and 2n vertical propellers which are symmetrically distributed by taking the submersible body as a center, wherein n is an integer larger than or equal to 2, and the submersible is in a positive buoyancy state as a whole.

Furthermore, in the 2n vertical propellers, the propellers of two vertical propellers arranged diagonally have the same rotating direction, the propellers of two adjacent vertical propellers have opposite rotating directions, and the posture and the motion state of the submersible are controlled by changing the rotating speed of each vertical propeller.

Further, the vertical thrusters are provided with four.

Further, the submersible body comprises a closed cabin and a controller arranged in the cabin.

Further, the submersible also includes a horizontal thruster.

Further, the horizontal propeller is arranged at the tail part of the submersible body.

Further, the horizontal thruster is provided with two.

Further, the submersible is made of a buoyant body having an overall density less than the water density.

Compared with the prior art, the utility model discloses have with following beneficial effect:

1) the utility model discloses the whole positive buoyancy state that presents all the time of surface of water of diving ware, gravity is less than buoyancy promptly, and when the diving ware was static, it can slowly float out of the water surface because self positive buoyancy state, whole diving ware, and the convenience is automatic when equipment trouble the surface of water, safe and reliable of floating of diving ware.

2) Because the dive principle is different from traditional scuba completely, only can realize dive through perpendicular propeller, the utility model discloses the scuba need not complicated ballast system, simple structure.

3) The utility model discloses the submersible is multiaxis type submersible, novel structure.

4) The utility model discloses can realize freely nimble realization dive, come-up, hover, remove, turn to through perpendicular propeller, nimble flexible.

5) The utility model discloses the submersible still can set up horizontal propeller, and the help submersible moves on the horizontal direction, improves seesaw efficiency.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a top view of the present invention;

fig. 3 is a side view of the present invention;

FIG. 4 is a schematic view of the submersible in a submerged state;

FIG. 5 is a schematic view of the principle of the floating state of the submersible;

FIG. 6 is a schematic view of the principle of the suspended state of the submersible;

fig. 7 is a schematic view of the vertical movement state of the present invention;

fig. 8 is a schematic view of the pitching motion state of the present invention;

FIG. 9 is a schematic view showing the rolling motion state of the present invention;

fig. 10 is a schematic view of the yaw movement state of the present invention;

FIG. 11 is a schematic view of the front and rear movement of the present invention;

fig. 12 is a schematic view of the lateral movement state of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1-3, the utility model provides a multiaxis submarine that can hover, including submarine body 10 and 2n vertical propulsion wares 20 that use submarine body 10 as the center, symmetric distribution, n is the integer that is more than or equal to 2, and the whole submarine that appears positive buoyancy state at the surface of water when unpowered, vertical propulsion ware 20 can produce downward thrust to make the submarine descend. Controlling the vertical thruster 20 so that the vehicle will dive when the thrust is greater than the positive buoyancy of the vehicle; when the downward thrust equals positive buoyancy, the submersible will hover; when the downward thrust is smaller than the positive buoyancy, the submersible floats upwards; when the vertical propeller generates upward thrust, the submersible will accelerate to float upward under the combined action of the upward thrust and the positive buoyancy.

In the 2n vertical thrusters 20, two vertical thrusters 20 arranged diagonally are a pair, and the propellers have the same rotating direction, and the adjacent pairs of vertical thrusters 20 have opposite propellers rotating directions, that is, the number of all the propellers rotating clockwise is equal to the number of the propellers rotating counterclockwise. The thrust of each propeller in the vertical propellers is adjusted to be matched, so that the submersible can keep a required posture in water; the thrust difference of the propeller of the clockwise rotating propeller and the propeller of the anticlockwise rotating propeller can be adjusted to form the overall torque difference of the submersible, so that the submersible is assisted to realize steering.

The vehicle body 10 includes a closed cabin 11 and a controller provided in the cabin 11. The whole submersible is in a positive buoyancy state, namely the gravity is smaller than the buoyancy. When the submersible is static, the whole submersible slowly floats out of the water surface due to the positive buoyancy state of the submersible. The overall average density of the submersible is less than the density of water, so that the submersible has a buoyancy greater than its own weight. The relationship between gravity and buoyancy for the sinking and floating condition of the object is shown in fig. 4-6. In the submerged state, the relationship between gravity and buoyancy is: g > F_{Floating body}(ii) a In a floating or suspended state, the relationship between gravity and buoyancy is: g ═ F_{Floating body}。

The submersible can realize the function that the body thereof has positive buoyancy by the following three ways: 1. the diving instrument body is embedded with a buoyancy material with the density less than the water density, so that the total buoyancy of the diving instrument body is greater than the total weight of the diving instrument body; 2. the submersible is built by using a material with density higher than water density, but a closed cavity is formed inside the submersible, and the weight of water corresponding to the total displacement of the submersible is larger than the total weight of the submersible; 3. the submersible is internally provided with materials with density less than that of water, materials with density greater than that of water and an internal closed cavity, but the weight of water corresponding to the total displacement of the submersible is greater than that of the total weight of the submersible.

Specifically, the buoyancy material is compounded mainly by filling a low-density regulator into a high-strength resin, and is also called a syntactic foam. The density regulator in the buoyancy material is hollow sphere material (such as hollow glass beads), and in order to ensure that the solid buoyancy material can bear the high pressure of deep sea, the high-strength solid buoyancy material for deep sea can be prepared by filling high-strength epoxy resin matrix with high-performance hollow glass beads. The hollow glass bead is a new type inorganic non-metal spherical powder material, which is composed of spherical thin-wall (0.5-2.0 μm) glass particles with diameter of 10-200 μm and above. Due to the unique spherical combination, the hollow glass microspheres have a rolling shaft effect, small particle size, light weight, wear resistance, corrosion resistance, high mechanical strength and good heat insulation, sound insulation and dielectric properties.

In some embodiments, the vehicle further includes a horizontal thruster 30 disposed at the rear of the vehicle body 10 to assist the vehicle in moving in a horizontal direction. The horizontal thruster 30 may be provided in two.

As shown in fig. 7-12, the present embodiment takes four vertical thrusters 20 (thrusters No. 1-4), i.e. n-2 as an example to describe the motion process of the submersible.

In FIG. 7, the reaction torque of the two pairs of propellers on the body of the submersible vehicle can be balanced due to the fact that the two pairs of propellers are oppositely turned, when the output power of the four propellers is simultaneously increased, the rotating speed of propeller propellers of the propellers is increased to increase the total downward thrust, and when the total thrust is enough to overcome the positive buoyancy of the whole submersible vehicle, the submersible vehicle with the four propellers is vertically submerged towards the seabed direction; on the contrary, the output power of the four propellers is reduced simultaneously, and the four-propeller submersible vertically ascends, so that the vertical movement along the z axis is realized. When the disturbance of water flow is zero, when the downward thrust generated by the propeller and the dead weight of the submersible are equal to the buoyancy of the fuselage, the submersible keeps in a hovering state, and the key of ensuring the synchronous increase or decrease of the rotating speeds of the four propellers is the vertical movement.

In fig. 8, the rotational speed of the propeller No. 1 is increased, the rotational speed of the propeller No. 3 is decreased, and the rotational speeds of the propeller No. 2 and the propeller No. 4 are kept constant. In order not to cause the overall torque and total thrust of the four-propeller submersible to change due to changes in the propeller rotational speed, the amount of change in the rotational speed of the

propellers

1 and 3 should be equal. As the thrust of the propeller 1 rises and the thrust of the propeller 3 falls, the generated unbalanced moment enables the body to rotate around the y axis (the direction is shown in the figure), and similarly, when the rotating speed of the propeller 1 falls and the rotating speed of the propeller 3 rises, the body rotates around the y axis to the other direction, so that the pitching motion of the submersible is realized.

In fig. 9, the rotational speeds of the propeller nos. 2 and 4 are changed, and the rotational speeds of the propeller nos. 1 and 3 are kept unchanged, so that the fuselage can be rotated (forward and reverse) around the x-axis to realize the rolling motion of the submersible.

Yaw motion of a four-propeller submersible may be achieved by means of reaction torque generated by the propellers. In the rotating process of the propellers, reaction torque opposite to the rotating direction can be formed under the action of water flow resistance, in order to overcome the influence of the reaction torque, two propellers of the four propellers can rotate positively and reversely, and the rotating directions of the propellers on the diagonal lines are the same. The magnitude of the reaction torque is related to the rotating speed of the propellers, when the rotating speeds of the four propellers are the same, the reaction torques generated by the four propellers are mutually balanced, and the four-propeller submersible does not rotate; when the four propeller speeds are not exactly the same, unbalanced reactive torque can cause the four propeller submersible to rotate. In fig. 10, when the rotation speed of the propeller 1 and the propeller 3 is increased and the rotation speed of the propeller 2 and the propeller 4 is decreased, the reaction torque of the propeller 1 and the propeller 3 to the body is larger than that of the propeller 2 and the propeller 4 to the body, and the body rotates around the z-axis under the action of the surplus reaction torque, so that the yawing motion of the submersible is realized, and the steering direction is opposite to the steering direction of the propeller 1 and the propeller 3. Because the total thrust of the propeller is constant, the submersible does not move vertically.

In order to realize the forward and backward and leftward and rightward movement of the submersible in the horizontal plane, a certain force must be applied to the submersible in the horizontal plane. In fig. 11, the rotating speed of the propeller No. 3 is increased to increase the thrust, and the rotating speed of the propeller No. 1 is correspondingly decreased to decrease the thrust, while the rotating speeds of the other two propellers are kept unchanged, and the reaction torque still needs to be balanced. According to the theory of fig. 9, the vehicle first tilts to some extent, so that the propeller thrust produces a horizontal component, and thus the forward motion of the vehicle can be achieved. The backward movement is exactly opposite to the forward movement. Of course, in fig. 9 and 10, the submersible is capable of producing horizontal motions along the x and y axes in addition to pitch and roll motions.

In fig. 12, the lateral movement works exactly the same as the forward and backward movement due to the symmetrical structure.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims

1. The multi-axis hovering submersible comprises a submersible body (10) and is characterized by further comprising 2n vertical thrusters (20) which are symmetrically distributed by taking the submersible body (10) as a center, wherein n is an integer greater than or equal to 2, and the submersible is in a positive buoyancy state as a whole.

2. The multi-axis hovercraft according to claim 1, wherein the propellers of two vertical thrusters (20) diagonally disposed among said 2n vertical thrusters (20) are rotated in the same direction, and the propellers of two adjacent vertical thrusters (20) are rotated in opposite directions, and the attitude and the motion state of the vehicle are controlled by changing the rotational speed of each vertical thruster.

3. The multi-axis hovercraft according to claim 1, wherein said vertical thrusters (20) are provided in four.

4. The multi-axis hovercraft according to claim 1, wherein said vehicle body (10) includes a closed cabin (11) and a controller disposed within said cabin (11), said controller being connected to a vertical propeller (20).

5. The multi-axis hovercraft according to claim 1, further comprising a horizontal thruster (30).

6. The multi-axis hovercraft according to claim 5, wherein said horizontal thruster (30) is provided at the rear of the vehicle body (10).

7. The multi-axis hovercraft according to claim 5, wherein there are two horizontal thrusters (30).

8. The multi-axis hover submersible of claim 1, wherein the submersible is a submersible made of buoyant bodies having an overall density less than water density.