CN214928770U - Amphibious unmanned underwater vehicle - Google Patents
Amphibious unmanned underwater vehicle Download PDFInfo
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- CN214928770U CN214928770U CN202120379311.9U CN202120379311U CN214928770U CN 214928770 U CN214928770 U CN 214928770U CN 202120379311 U CN202120379311 U CN 202120379311U CN 214928770 U CN214928770 U CN 214928770U
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Abstract
The utility model discloses an amphibious unmanned underwater vehicle, including rescue cabin and underwater vehicle main part, still include navigation drive assembly and air cushion layer, rescue cabin arranges in the center department of underwater vehicle main part upper end, its upper end is equipped with the cabin cover, the both sides that are located rescue cabin on the underwater vehicle main part upper end are equipped with drainage device and oxygen cylinder respectively, navigation drive assembly includes amphibious drive frame wheel and lift ups and downs device, amphibious drive frame wheel arranges in the both sides of underwater vehicle main part bottom, lift ups and downs device arranges in the head and the afterbody of underwater vehicle main part, the air cushion layer arranges in the bottom of underwater vehicle main part; what is different from traditional unmanned underwater vehicle is that, the air cushion layer cooperation amphibious driving frame wheel that the underwater vehicle bottom set up can be at the surface of water and underwater fast navigation to and go up and down to fluctuate, when guaranteeing effective investigation efficiency in addition, can also regard as the rescue cabin to use when the rescue task, and the personnel of being stranded are rescued fast, and adaptability is wide in range.
Description
Technical Field
The utility model relates to a ware of diving, specifically an amphibious unmanned ware of diving.
Background
In order to obtain more and better underwater information, various underwater unmanned detectors are developed in many countries in the world and are used for collecting underwater information and controlling the leading right of underwater information battles. The wheel type underwater unmanned detector can contact the underwater environment to the maximum extent, so that information such as submarine geomorphic characteristics, geological conditions, hydrology, magnetic fields, acoustic characteristics and the like can be well acquired, and therefore the wheel type underwater unmanned detector is widely concerned by navies of various countries. Meanwhile, the product is a dual-purpose product for military and civil use, and has wide application prospect in the fields of ocean development, underwater operation, underwater search and rescue and the like.
When a traditional underwater vehicle is used for detecting tasks, the single-drive mode is mostly adopted for sinking and floating, the underwater condition is complex, the detection efficiency of the underwater vehicle adopting the drive mode is low, the underwater vehicle is difficult to cope with complex terrains, and meanwhile, in actual work, the underwater vehicle often only has the detection function, so that the underwater vehicle seems to be useless when facing sudden rescue events and needs to be improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an amphibious unmanned underwater vehicle to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
an amphibious unmanned underwater vehicle comprises a rescue cabin, a main body of the underwater vehicle, a navigation driving assembly and an air cushion layer;
the rescue cabin is arranged at the center of the upper end of the underwater vehicle main body, the upper end of the rescue cabin is provided with a cabin cover, the upper end of the underwater vehicle main body, which is positioned at the two sides of the rescue cabin, is respectively provided with a water pumping and draining device and an oxygen tank, the water pumping and draining device and the oxygen tank are respectively communicated with a cavity of the rescue cabin through pipelines, and the two sides of the underwater vehicle main body are provided with steering engines;
the navigation driving component comprises amphibious driving frame wheels and a lifting sinking and floating device;
the amphibious driving frame wheels are arranged on two sides of the bottom end of the main body of the underwater vehicle and are used for pushing the main body of the underwater vehicle to advance in an amphibious environment;
the lifting sinking and floating devices are arranged at the head and the tail of the underwater vehicle body and are used for driving the underwater vehicle body to sink and float rapidly underwater;
the air cushion layer is arranged at the bottom end of the main body of the underwater vehicle and used for enabling the main body of the underwater vehicle to float on the water surface, and a gas charging and discharging assembly is arranged at the joint of the air cushion layer and the main body of the underwater vehicle.
Preferably, the amphibious driving frame wheel comprises an air propeller, an underwater propulsion power paddle and an amphibious paddle wheel, the air propeller and the underwater propulsion power paddle are arranged at the upper end part of the tail part of the main body of the underwater vehicle side by side and are fixedly connected with the main body of the underwater vehicle, and the amphibious paddle wheel is arranged at two sides of the lower end part of the main body of the underwater vehicle and is connected with a driving piece arranged in the main body of the underwater vehicle through a transmission shaft.
Preferably, the lifting sinking and floating device comprises a lifting diving channel penetrating through the head and the tail of the main body of the underwater vehicle, an air cushion blower is installed at the upper port of the lifting diving channel, and a lifting diving power paddle driven by a control motor is installed at the lower port of the lifting diving channel.
Preferably, the control motor is a waterproof brushless direct current motor.
Preferably, the two sides of the underwater vehicle main body are provided with lifting rudder wings, and one ends of the lifting rudder wings close to the underwater vehicle main body are rotatably connected with the underwater vehicle main body through steering engines.
Preferably, the inflation and deflation assembly comprises an inflation channel, one end of the inflation channel is communicated with the air cushion layer, the other end of the inflation channel is communicated with the upper end of the diving and ascending channel, a baffle is arranged at the lower end of the diving and ascending channel, a sealing slide block device is arranged at the joint of the diving and ascending channel and the inflation channel, and the sealing slide block device and the baffle are respectively connected with output ends of a first electric push rod and a second electric push rod which are used for pushing the first electric push rod and the second electric push rod to open and close.
Preferably, searchlights for underwater lighting are installed on two sides of the head of the rescue capsule.
Preferably, install sonar signal receiving arrangement and environmental investigation device in the ware main part of diving, environmental investigation device includes communication antenna, ultrasonic sensor and sonar, and communication antenna arranges the up end of ware main part afterbody in for receive the investigation signal, and ultrasonic sensor and sonar arrange the both sides of ware main part in the ware main part of diving for launch the investigation signal.
Preferably, the environment detection device comprises a cradle head arranged on the upper end face of the head of the main body of the underwater vehicle, and the cradle head is sequentially provided with a photoelectric sensor, a high-definition camera and an infrared sensor.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the amphibious unmanned underwater vehicle rescue cabin is used as a rescue cabin when the underwater vehicle carries out rescue tasks; when the underwater vehicle is submerged, the underwater vehicle is used as a lifting cabin, the water pumping and draining device pumps water into the cabin to increase the weight of the underwater vehicle so as to carry out quick submergence, and when the underwater vehicle floats upwards, the water pumping and draining device drains water out of the cabin to increase the buoyancy of the underwater vehicle.
2. The amphibious wheels of the amphibious unmanned underwater vehicle are used as driving wheels on the ground at the bottom of the water and on the land, the amphibious wheels are used as power paddles in the water, meanwhile, an air cushion layer is arranged at the bottom of the underwater vehicle, and the inflated air cushion layer is in power fit with an air propeller, so that the underwater vehicle can run on the water surface quickly like an air cushion landing ship.
4. The elevator wing of the amphibious unmanned underwater vehicle can be used as an elevator in water and can also be used as a wing for providing lift force on the water surface.
5. The amphibious unmanned underwater vehicle can realize omnibearing and multi-angle detection, mapping and investigation on information such as submarine geomorphic characteristics, geological conditions, hydrology, magnetic fields, acoustic characteristics and the like. The product is used as a dual-purpose product for military and civil use, and has wide application prospect in the fields of ocean development, underwater operation, underwater search and rescue and the like.
Drawings
Fig. 1 is a schematic structural diagram of an amphibious unmanned underwater vehicle.
Fig. 2 is a schematic structural diagram of a steering engine in an amphibious unmanned submersible vehicle.
Fig. 3 is a schematic structural diagram of an air cushion device in an amphibious unmanned submersible vehicle.
Fig. 4 is a schematic structural diagram of an air inflation and deflation assembly in the amphibious unmanned underwater vehicle.
In the figure: 1. a rescue capsule; 2. an air propeller; 3. a communication antenna; 4. propelling a power paddle underwater; 5. an air cushion blower; 6. an amphibious paddle wheel; 7. an ultrasonic sensor; 8. a rudder blade; 9. sonar; 10. a searchlight; 11. a water pumping and draining device; 12. a holder; 13. lifting the diving channel; 14. a photosensor; 15. a high-definition camera; 16. an infrared sensor; 17. An oxygen tank; 18. lifting a submersible power paddle; 19. controlling the motor; 20. an air cushion layer; 21. a steering engine; 22. an electric push rod I; 23. sealing the slider device; 24. a baffle plate; 25. an inflation channel; 26. a second electric push rod; 27. the submarine vehicle main body.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, in the embodiment of the present invention, an amphibious unmanned underwater vehicle includes a rescue capsule 1 and a main body 27, and further includes a navigation driving assembly and an air cushion layer 20;
the rescue cabin 1 is arranged at the center of the upper end of the submarine vehicle main body 27, the upper end of the rescue cabin 1 is provided with a cabin cover, the upper end of the submarine vehicle main body 27 is positioned at two sides of the rescue cabin 1 and is respectively provided with a water pumping and draining device 11 and an oxygen tank 17, the water pumping and draining device 11 and the oxygen tank 17 are respectively communicated with a cavity of the rescue cabin 1 through pipelines, and two sides of the submarine vehicle main body 27 are provided with steering engines 21; the amphibious unmanned underwater vehicle is provided with a rescue cabin 1, when survivors in a sea condition severe sunken ship accident need to be rescued and general ships cannot be rescued, the underwater vehicle can rescue the survivors in a relatively complex water area, when the survivors enter the rescue cabin 1 and close a cabin cover, the pumping and drainage device 11 is started to drain water rapidly, and the oxygen tank 17 is started to inject oxygen while draining water;
the navigation driving component comprises amphibious driving frame wheels and a lifting sinking and floating device; amphibious driving frame wheels are arranged on two sides of the bottom end of the main submersible vehicle body 27 and used for pushing the main submersible vehicle body 27 to move in an amphibious environment; the lifting sinking and floating devices are arranged at the head and the tail of the main body 27 of the underwater vehicle and are used for driving the main body 27 of the underwater vehicle to sink and float rapidly underwater;
the amphibious driving frame wheel comprises an air propeller 2, an underwater propulsion power paddle 4 and an amphibious paddle wheel 6, the air propeller 2 and the underwater propulsion power paddle 4 are arranged at the upper end part of the tail part of the main body 27 of the underwater vehicle side by side and are fixedly connected with the main body 27 of the underwater vehicle, and the amphibious paddle wheel 6 is arranged at two sides of the lower end part of the main body 27 of the underwater vehicle and is connected with a driving piece arranged in the main body 27 of the underwater vehicle through a transmission shaft; the driving piece is driven by a servo hub speed reducing motor, a motor driver and a speed regulator, an output shaft of a four-wheel drive motor drives the amphibious paddle wheel 6 to provide driving power, the amphibious paddle wheel 6 is used as a wheel on land or on the ground of the sea bottom and used as a driving paddle in the sea, and a sealing waterproof device is arranged on each of the transmission shaft and the motor;
the lifting sinking and floating device comprises a lifting diving channel 13 penetrating through the head and the tail of the main body 27 of the underwater vehicle, an air cushion blower 5 is arranged at the upper port of the lifting diving channel 13, a lifting diving power paddle 18 driven by a control motor 19 is arranged at the lower port of the lifting diving channel 13, and the control motor 19 is a waterproof brushless direct current motor; when the underwater vehicle main body 27 advances in water for lifting and submerging, the lifting and submerging are completed mainly by matching the underwater propulsion power paddle 4 and the lifting rudder wing 8, and the lifting rudder wing 8 is in auxiliary matching; the lifting and submerging power paddle 18 rotates forwards to submerge the underwater vehicle, and rotates backwards to lift;
the two sides of the underwater vehicle main body 27 are provided with the lifting rudder wings 8, and one ends of the lifting rudder wings 8 close to the underwater vehicle main body 27 are rotatably connected with the underwater vehicle main body 27 through the steering engine 21; the amphibious unmanned underwater vehicle is provided with two groups of lifting rudder wings, when the underwater vehicle lifts in water, the lifting rudder wings 8 are mainly embodied as lifting rudders with adjustable angles, and the main body 27 of the underwater vehicle is adjusted by matching with the lifting power propellers 18 to realize rapid lifting; when the underwater vehicle travels on the water surface, the elevating rudder wing 8 is fixed at a horizontal angle and used as a wing, and mainly provides a certain lift force for the main body 27 of the underwater vehicle to reduce the resistance between the air cushion layer and the water surface when the underwater vehicle rapidly travels on the water surface;
the air cushion layer 20 is arranged at the bottom end of the submarine vehicle main body 27 and is used for enabling the submarine vehicle main body 27 to float on the water surface, and an inflation and deflation component is arranged at the connecting position of the air cushion layer 20 and the submarine vehicle main body 27; the inflation and deflation assembly comprises an inflation channel 25, one end of the inflation channel 25 is communicated with the air cushion layer 20, the other end of the inflation channel 25 is communicated with the upper end of the diving and ascending channel 13, a baffle plate 24 is arranged at the lower end part of the diving and ascending channel 13, a sealing slide block device 23 is arranged at the joint of the diving and ascending channel 13 and the inflation channel 25, and the sealing slide block device 23 and the baffle plate 24 are respectively connected with the output ends of a first electric push rod 22 and a second electric push rod 26 which are used for pushing the opening and closing of the sealing slide block device; when the underwater vehicle floats out of the water surface, the air cushion blower 5 is started to rapidly inflate the air cushion layer 20, when the underwater vehicle is inflated, a baffle plate 24 is arranged between the air cushion blower 5 and the submersible power lifting paddle 18 in the submersible channel 13, when the baffle plate 24 is closed, the sealing slide block device 23 is opened to rapidly inflate the air cushion, after the inflation is completed, the sealing slide block device 23 is closed, the baffle plate 24 is opened, the air cushion blower 5 always works during the water surface running of the underwater vehicle, and the air cushion layer 20 of the underwater vehicle and the water surface have air cushions to separate to reduce the water surface resistance;
the environment detection device comprises a cradle head 12 arranged on the upper end face of the head of the main body 27 of the underwater vehicle, wherein a photoelectric sensor 14, a high-definition camera 15 and an infrared sensor 16 are sequentially arranged on the cradle head 12; the amphibious unmanned underwater vehicle is used for mounting corresponding sensors according to different surveying and mapping tasks, omnibearing and multi-angle surveying and mapping of information such as submarine geomorphic characteristics, geological conditions, hydrology, magnetic fields, acoustic characteristics and the like is realized, the information is stored in an information storage module device through an information acquisition module and an information processing module, and the information is transmitted to a terminal receiving platform through a wireless transmission module after the amphibious unmanned underwater vehicle floats to the water surface;
the amphibious unmanned underwater vehicle can be used for mounting different functional modules to achieve different working purposes, for example, the amphibious unmanned underwater vehicle can be used for mounting a fire-fighting spray gun module to quickly reach a target place to extinguish a fire for an offshore oil and gas drilling platform by means of the advantage that the amphibious unmanned underwater vehicle can quickly advance on the water surface.
The working principle is as follows: starting the elevating and submerging power propeller 18 and the amphibious paddle wheel 6, enabling the underwater vehicle to advance and submerge and ascend at the water bottom and in the water through the cooperation of the rudder wings, feeding back information of each carried sensor to a control system to avoid obstacles, and realizing the omnibearing, multi-angle detection, mapping, search and rescue and other work on information such as submarine geomorphic characteristics, geological conditions, hydrology, magnetic fields, acoustic characteristics and the like; when the underwater vehicle floats out of the water surface, the air cushion blower 5 is started to rapidly inflate the air cushion layer 20, when the underwater vehicle inflates air, a baffle plate 24 is arranged between the air cushion blower 5 and the diving power lifting paddle 18 in the diving channel 13, when the baffle plate 24 is closed, the sealing slide block device 23 is opened to rapidly inflate the air, after the inflation is completed, the sealing slide block device 23 is closed, the baffle plate 24 is opened, the air cushion blower 5 always works during the running of the underwater vehicle on the water surface, the air cushion layer 20 of the underwater vehicle and the water surface have air cushions to separate and reduce the resistance of the water surface, and the environmental adaptability is strong.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. An amphibious unmanned underwater vehicle comprises a rescue cabin (1) and a vehicle main body (27), and is characterized by further comprising a navigation driving assembly and an air cushion layer (20);
the rescue cabin (1) is arranged at the center of the upper end of the underwater vehicle main body (27), a cabin cover is arranged at the upper end of the rescue cabin, a water pumping and draining device (11) and an oxygen tank (17) are respectively arranged at the upper end of the underwater vehicle main body (27) and positioned at two sides of the rescue cabin (1), the water pumping and draining device (11) and the oxygen tank (17) are respectively communicated with a cavity of the rescue cabin (1) through pipelines, and steering engines (21) are arranged at two sides of the underwater vehicle main body (27);
the navigation driving assembly comprises amphibious driving frame wheels and a lifting sinking and floating device;
the amphibious driving frame wheels are arranged on two sides of the bottom end of the submarine vehicle main body (27) and used for pushing the submarine vehicle main body (27) to move in an amphibious environment;
the lifting sinking and floating device is arranged at the head and the tail of the underwater vehicle main body (27) and is used for driving the underwater vehicle main body (27) to sink and float underwater;
the air cushion layer (20) is arranged at the bottom end of the main body (27) of the underwater vehicle and used for enabling the main body (27) of the underwater vehicle to float on the water surface, and an inflation and deflation assembly is arranged at the connection position of the air cushion layer (20) and the main body (27) of the underwater vehicle.
2. An amphibious unmanned underwater vehicle according to claim 1, wherein the amphibious driving frame wheels comprise air propellers (2), underwater propulsion power paddles (4) and amphibious paddle wheels (6), the air propellers (2) and the underwater propulsion power paddles (4) are arranged side by side at the upper end of the tail part of the main vehicle body (27) and are fixedly connected with the main vehicle body (27), and the amphibious paddle wheels (6) are arranged at two sides of the lower end of the main vehicle body (27) and are connected with driving pieces arranged in the main vehicle body (27) through transmission shafts.
3. An amphibious unmanned vehicle according to claim 1, wherein the elevating submerging means comprises elevating submerging channels (13) penetrating the head and tail of the vehicle body (27), air cushion blowers (5) are installed at the upper ports of the elevating submerging channels (13), and elevating submerging power paddles (18) driven by a control motor (19) are installed at the lower ports of the elevating submerging channels (13).
4. An amphibious unmanned vehicle according to claim 3, characterised in that the control motor (19) is a waterproof brushless DC motor.
5. An amphibious unmanned underwater vehicle according to claim 1, characterized in that lifting rudder wings (8) are arranged on two sides of the main body (27), and one ends of the lifting rudder wings (8) close to the main body (27) of the underwater vehicle are rotatably connected with the main body (27) of the underwater vehicle through steering engines (21).
6. An amphibious unmanned underwater vehicle according to claim 3, wherein the inflation and deflation assembly comprises an inflation channel (25), one end of the inflation channel (25) is communicated with the air cushion layer (20), the other end of the inflation channel is communicated with the upper end of the diving channel (13), a baffle (24) is arranged at the lower end of the diving channel (13), a sealing slider device (23) is arranged at the joint of the diving channel (13) and the inflation channel (25), and the sealing slider device (23) and the baffle (24) are respectively connected with the output ends of a first electric push rod (22) and a second electric push rod (26) for pushing the opening and closing of the sealing slider device.
7. An amphibious unmanned vehicle according to claim 1, characterised in that searchlights (10) for underwater lighting are mounted on both sides of the head of the rescue capsule (1).
8. An amphibious unmanned underwater vehicle according to claim 1, wherein a sonar signal receiving device and an environment detecting device are mounted on the main body (27), the environment detecting device comprises a communication antenna (3), an ultrasonic sensor (7) and a sonar (9), the communication antenna (3) is arranged on the upper end face of the tail of the main body (27) and used for receiving detection signals, and the ultrasonic sensor (7) and the sonar (9) are arranged on two sides of the main body (27) and used for emitting the detection signals.
9. An amphibious unmanned underwater vehicle according to claim 8, wherein the environment detection device comprises a cradle head (12) installed on the upper end face of the head of the main body (27) of the underwater vehicle, and the cradle head (12) is sequentially provided with a photoelectric sensor (14), a high-definition camera (15) and an infrared sensor (16).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120379311.9U CN214928770U (en) | 2021-02-19 | 2021-02-19 | Amphibious unmanned underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120379311.9U CN214928770U (en) | 2021-02-19 | 2021-02-19 | Amphibious unmanned underwater vehicle |
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| CN214928770U true CN214928770U (en) | 2021-11-30 |
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| CN202120379311.9U Active CN214928770U (en) | 2021-02-19 | 2021-02-19 | Amphibious unmanned underwater vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114320453A (en) * | 2022-03-07 | 2022-04-12 | 交通运输部天津水运工程科学研究所 | Emergency rescue equipment and method for deep water tunnel |
| CN114537064A (en) * | 2022-03-28 | 2022-05-27 | 天津大学 | A rescue device for urban waterlogging |
| CN117400674A (en) * | 2023-09-22 | 2024-01-16 | 哈尔滨工程大学 | Amphibious search and rescue robot |
| CN117400674B (en) * | 2023-09-22 | 2024-04-30 | 哈尔滨工程大学 | Amphibious search and rescue robot |
-
2021
- 2021-02-19 CN CN202120379311.9U patent/CN214928770U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114320453A (en) * | 2022-03-07 | 2022-04-12 | 交通运输部天津水运工程科学研究所 | Emergency rescue equipment and method for deep water tunnel |
| CN114320453B (en) * | 2022-03-07 | 2022-05-24 | 交通运输部天津水运工程科学研究所 | Emergency rescue equipment and method for deep water tunnel |
| CN114537064A (en) * | 2022-03-28 | 2022-05-27 | 天津大学 | A rescue device for urban waterlogging |
| CN117400674A (en) * | 2023-09-22 | 2024-01-16 | 哈尔滨工程大学 | Amphibious search and rescue robot |
| CN117400674B (en) * | 2023-09-22 | 2024-04-30 | 哈尔滨工程大学 | Amphibious search and rescue robot |
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