JPH02501135A - Remote controlled self-propelled underwater boat - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Remote controlled self-propelled underwater boat The present invention allows control signals to be transmitted via a cable (umbilical cord) from a ship or other water location. Relating to supplied and remotely controlled underwater craft. Remote controlled underwater boat for pleasure It is used extensively for research and commercial purposes, especially for underwater landscapes. Bring a photo or video camera to record or view the scene directly. Generally equipped. Generally, propulsion of such boats is provided by electric motors, which The motor drives the propeller and other propulsion generating devices to propel the boat and steer it. .

The object of the present invention is to provide a self-propelled submersible boat that has high operational reliability and The purpose of this invention is to provide a structure that is easy and simple to control during movement and has excellent stability.

To achieve this objective, the present invention provides thrusters each driven by an electric motor. A remote-controlled self-propelled submersible boat with means of propulsion and means of operation, which is sealed in a The mold body and the mold body extend from the mold body to transmit power and control signals from a remote source to the interior of the body. a cable for the control means are provided within the body to operate the The electric power is selectively supplied to the above electric motors, and each of the above electric motors is The housing is removably attached to the main body. In its installed state, it forms a sealed enclosure for the motor and The connecting cable means is passed from the main body into each housing in a sealed manner to It is characterized by being connected to each electric motor in the ring.

The electric motor has a shaft extending through the motor housing that drives the corresponding propeller. Conveniently, a suitable seal is provided between the shaft and the motor housing.

Providing the electric motor inside a housing that is sealed against the inside of the body of the boat. In case there is a leak between the shaft that drives the propeller and the motor housing. safety is additionally increased. If such a leak occurs, either motor Even if the housing is submerged in water, the interior of the main body, which houses the electrical and electronic control equipment, will remain intact. will not be flooded. This construction therefore virtually eliminates the possibility of damage to the boat's internal mechanisms. Therefore, even if the motor breaks down, the main body of the boat remains intact. Repair work can be done without damaging the seal condition, and the work is relatively easy. be. The main body has a working opening, and when the housing is assembled with the main body, , it is effective to provide the opening in a position surrounded by one motor housing. be. A removable bulkhead is provided to close the working opening normally in a sealed manner.

The partition wall is interposed between the main body and the motor housing.

Further embodiments of the invention include a self-propelled underwater lever that propels the boat horizontally and vertically. Thrust means are provided for each purpose, and ballast means is mounted rigidly on the boat. The buoyancy of the boat is approximately 0 or slightly positive. Also, the above ballast hand The tiers are arranged so that the center of gravity of the boat is below the center of buoyancy.

The ballast means should be arranged taking into account the distribution of its weight. , it is effective if the center of gravity is distributed so that it is approximately located on the thrust line of the thrust means in the vertical direction. It is true.

The thrust means for propelling the boat in the vertical direction is a single thrust device such as a motor-driven propeller. It is preferable that the propeller's axis of rotation is vertical and that it is stabilized by ballast. It is designed to pass approximately through the center of gravity of the boat.

It is effective to provide lateral thrust means for use in steering in a generally horizontal direction. Ru. This lateral thrust means counteracts the torque reaction of the vertical thrust propeller to stabilize the boat. It is also possible to maintain the quality.

By arranging the ballast as described above, a single thrust means is provided to provide vertical In that case, the direction line of the thrust generally passes through the center of gravity, so the simple The single thrust means allows for sufficient vertical movement and keeps the boat in a stable state. can be maintained.

In conventional self-propelled submersible boats, two or more thrust means are provided to control the vertical movement of the boat. 6D, in which case the thrust is placed on both sides of the vertical plane passing through the center of gravity of the boat. The force means are arranged so as to obtain the required stability. to perform vertical movements , the provision of two thrusters would be complex and expensive. Furthermore, for some reason , if the operating condition of one of the thrust means deviates significantly from the normal output condition, the stability of the boat may be affected. There is also the problem that the quality is significantly impaired.

The invention will now be explained in more detail by way of an embodiment of a self-propelled submersible boat shown in the accompanying drawings. explain.

Figure 1 is a perspective view of a self-propelled boat; Figure 2 is a partial cutaway showing a self-propelled underwater craft with one support paw omitted. Side front view, FIG. 3 is a front view of the self-propelled watercraft.・In the drawings, the boat is generally It has an ellipsoidal main body 10, and a pair of support bows 11 (frame-shaped members) are attached to the main body 10. It is attached to both sides extending in the vertical direction. Bow 11 is the boat when the boat is not in the water. form a normal stand.

A vertically elongated transparent window 12 is provided at the front of the main body 10, as shown in FIG. A typical movie camera or video camera has its lens 13 inside the window 12. They are mounted in the housing 10 in an adjacent state. The camera is a book in Kono's way The camera is mounted in the body 10, and the camera can be rotated about a horizontal axis in the lateral direction. The lens 13 can be panned up and down from the center position shown. another structure Alternatively, the breath can be made into a circular shape (preferably an outwardly projecting saucer shape); A window is used when mounting the camera to pan both vertically and horizontally. Particularly suitable for use.

The main body 10 is provided with a hanging leg 14 located at the center of the top of the main body 10. Ru. Attach a suitable line to the legs 14 and attach the boat to a vessel or other surface structure. It can be moored to the body. The motor that propels the boat vertically is broken. Use the above line as an auxiliary means for the motor in case of failure or for other reasons. It is also possible to raise the boat by Also, pull the boat out of the water onto a deck or other support. The above lines are also useful when raising

As shown in FIG. 1, the cable 18 incorporates power conductors and signal conductors. . The cable 18 is connected to a group provided in the wall of the body 10 forming a seal between the two. It passes through the land assembly 19. The cable 18 has a mooring and pulling line. It has sufficient tensile strength to function as a As shown, the metal sheath 27 is connected to the cable 1 at an appropriate distance from the ground 19. 8 and connects the sheath 27 to the leg 14.

A housing 15 is provided at the center of the lower side of the main body 10, and as shown in FIG. A motor 16 for driving the propeller 17 is arranged inside the housing 15. Mo The axes of the motor 16 and propeller 17 are vertical and generally aligned with the boat's center of gravity 28.

Therefore, in the operating state, the propeller 17 is aligned with the boat approximately in a line passing through the center of gravity. exerts a thrust in the vertical direction along. Since the motor 16 is reversible, the propeller can be can be moved in either vertically upward or downward directions.

Another housing 20 is provided at the rear of the main body 10, and a propeller 2 is installed inside the housing 20. 2 is provided with an electric motor 21 connected to it. Due to the rotation of the propeller 22, the water on the boat A thrust in the square direction is generated. Since the motor 21 is also reversible, the propeller It can also be driven in any direction. The thrust line of the propeller 22 is generally along the longitudinal axis of the main body 10. ing.

At the lower side of the front end of the main body 10, a composite housing 2 is integrated with the lower housing 15. 5 is a provision. The composite housing 25 includes a lamp section 26 and a steering motor section. 27 and is attached to the housing 15 by a web portion 28.

The motor housing part 27 includes an electric motor (not shown) similar to motor 16.21. ) is provided. The motor is driven on an axis transverse to the longitudinal direction of the main body 10. It is connected to the propeller 29. Since the motor that drives the propeller 29 is reversible, , can be actuated to drive propeller 29 in either direction, thus improving boat handling. You can perform a direction motion to point the camera in the desired direction. Drives propeller 1T In order to counteract the torque reaction of the vertical lift motor 16, the propeller 29 In use, an operator combines the motor 16 and the propeller 29 drive motor. It will be activated by setting it.

The lamp portion 26 of the housing 25 includes a light bulb 30 and a suitable reflector (not shown). The transparent window 31 is supported in place by a removable ring 32. Fixed. Portion 26 is removable from the rest of housing 25 In addition, it is possible to form a working part for attaching and detaching the motor that drives the propeller 29. It has become.

The body 10 is provided with two working openings 35, 36 through which the schematic The bulkhead member requires the installation and adjustment of electrical and electronic control equipment indicated by reference numeral 37. Closed by 38.39. An O-ring type seal 40 is provided between each partition member and the main body. A plurality of screws 41 are provided between the two plates to form a seal. are doing. The housings 15.20 each have a plurality of Tighten the screws 42 with O-ring type seals 43 interposed between them. It is a plating. Due to this structure, both the housing 15 and 20 are connected to each bulkhead member. can be removed independently from the main body 10, thereby keeping the body 10 in a sealed state. Its internal electrical and electronic control parts can be protected.

Each bulkhead member 38,39 is provided with a single hole through which each cable 24 is inserted. passes through with a seal gland 35 interposed therebetween. In this way, inside the main body 10 An electrical connection structure between the electrical and electronic control unit 37 and each electric motor 16.21. structure without impairing the sealing function between the inside of the main body 10 and the inside of each housing. It is structured as follows. Another cable (not shown) passes through the perforations in web 28. The cable is connected to the motor and light bulb built into the housing 25. It is designed to supply electricity. If necessary, add another seal gland to the above. It may also be provided between the hole and the cable passing through it.

Another cable (not shown) runs from inside housing 15 to inside composite housing 25. The cable extends through a hole sealed with a grommet to the propeller. Electric power is supplied to the drive motor 29 and the light bulb 30.

Between both poules 11, a ballast weight having an irregular annular shape with a central opening 46 is provided. A shaft 45 is provided coaxially with the propeller 16. Ballast weights 45 spaced apart It is fixed to two horizontal pars 47, and the ends of the bars 47 are fixed to the bow 11. There is. The dimensions and shape of the ballast heavy shell 45 are set appropriately. The center of gravity 28 of the body is located below the vertical position of the center of buoyancy of the boat, and therefore, as shown in Figure 2. As shown, both are located on or very close to the thrust line 49 of the propeller 17.

This structure makes it easy to maneuver the boat both on and under water. At the same time, stability is improved.

The actual weight of the ballast weight is such that the boat's buoyancy is zero or (preferably) slightly positive. It is selected as follows. This allows propeller 1 to control the operating depth of the boat. The extent to which T's vertical thrust is used is reduced.

Providing a slight positive buoyancy is a safety measure 1) in case the vertical thrust motor 16 fails. However, this is to ensure that the boat rises to the surface of the water.

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Claims (10)

[Claims] 1. Remote control with propulsion means and steering means each driven by an electric motor A self-propelled submersible boat, the boat having a sealed body and a body extending from the body. A cable for transmitting power and control signals from a remote source to the inside of the case is provided. A control means is provided in the main body to operate in response to a control signal received from the This selectively directs power received via the cable to the electric motor. Each of the electric motors described above is installed in a corresponding motor housing, and the corresponding When the housing is removably attached to the main body and the motor Each interconnecting cable means is sealed and connected to form a hermetically sealed enclosure for the tail. from the body into each housing and connected to each electric motor in the housing. A remote-controlled self-propelled underwater boat featuring: 2. When one motor housing is assembled with the main body, the motor housing A removable bulkhead with a working opening in the body in the position closed by is interposed between the main body and the one motor housing, so that the motor When the housing is attached to or removed from the main body, the working opening According to claim 1, the mouth is closed and the main body is maintained in a sealed state. boat. 3. An interconnecting cable extending from the interior of the body to the one motor housing, 3. The watercraft according to claim 2, wherein said watercraft passes through said bulkhead in a sealed manner. 4. The partition wall is removably fixed to the main body, and the one motor A watercraft according to claim 2 or 3, wherein the housing is removably fixed to the bulkhead. 5. The steering means includes a propeller, and the propeller is attached to the motor housing. One motor is rotatably supported around a vertical axis, and one motor is supported by one motor. It is connected in a driven state to an electric motor installed in the motor housing. The vertical stability of the above boat is such that the center of gravity of the boat is approximately on the axis of rotation of the above propeller. 5. The boat according to claim 1, wherein the boat is maintained so as to 6. The center of buoyancy of the boat is also located approximately on the rotation axis of the propeller, and The boat according to claim 5, wherein the boat is located above the vertical position of the center of gravity. 7. 7. The boat according to claim 1, wherein the buoyancy of the boat as a whole is approximately zero. 8. The camera is installed inside the main body, and there is a window in the main body, and the camera is inserted through the window. The boat according to any one of claims 1 to 7, wherein the boat is located at a position where it can receive the image. 9. The propulsion means is rotatably supported by a motor housing and has a motor inside the motor housing. The motor housing has a sealed shape. It is attached to the main body in a state that surrounds the working opening of the main body, and the left side is removable. A partition wall is interposed between the main body and the motor housing to close the working opening. This allows the main body to be sealed when the motor housing is removed from the main body. 2. The watercraft according to claim 1, wherein the watercraft is maintained in a closed state. 10. remote control having propulsion and steering means each driven by an electric motor; A controlled self-propelled submersible boat, the boat having a sealed body and a body extending from the body. cables for transmitting power and control signals from remote sources into the interior of the case. a control means operated in response to a control signal received from the cable; Thereby selectively directing power received via said cable to said electric motor. The steering means includes a propeller, and the propeller is connected to a motor. rotatably supported about a vertical axis by one of the motor housings and , in a driven state relative to an electric motor mounted in one of the motor housings. The vertical stability of the boat is such that the center of gravity of the boat is approximately the same as the propeller. The center of buoyancy of the boat is also located above the propeller's axis of rotation. It is located approximately on the axis of rotation and above the vertical position of the boat's center of gravity. A remote-controlled self-propelled underwater boat.