CN107021195B - Culvert type unmanned submersible - Google Patents
Culvert type unmanned submersible Download PDFInfo
- Publication number
- CN107021195B CN107021195B CN201710257063.9A CN201710257063A CN107021195B CN 107021195 B CN107021195 B CN 107021195B CN 201710257063 A CN201710257063 A CN 201710257063A CN 107021195 B CN107021195 B CN 107021195B
- Authority
- CN
- China
- Prior art keywords
- duct
- shell
- main
- submersible
- yaw control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241000237858 Gastropoda Species 0.000 claims abstract description 13
- 238000002347 injection Methods 0.000 claims abstract description 9
- 239000007924 injection Substances 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 230000009189 diving Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004804 winding Methods 0.000 abstract 1
- 238000004088 simulation Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The invention belongs to aircraft technical field of diving under water, more particularly to a kind of culvert type submersible.Culvert type unmanned submersible, it includes：Shell, main propelling machinery, load cabin and trailing cable；Shell is equipped with main duct along its axis direction, yaw control duct, rear yaw control duct before sidewall symmetry is equipped with one group；The injection blade of automatic adjustment rotating speed is equipped in preceding yaw control duct and rear yaw control duct；The present invention is based on positive snail paddle, reversed snail paddles to change the line of production raw main driving force in main duct inward turning, avoid reaction torque effect, submersible is set to generate the side-thrust of different shunting proportionings by several control duct gesture stability power of side simultaneously, so that track navigation of the submersible by operation, or control posture deflection.The present invention is suitable for the underwater environment of complex condition, has good adaptability to fishing net winding and sharp underwater obstacle, attaches various operation modules in load storehouse, can carry out Acoustic Object and imitate torpedo, submarine etc..
Description
Technical field
The invention belongs to aircraft technical field of diving under water, more particularly to a kind of culvert type submersible.
Background technology
Submersible is the movable diving outfit with underwater observation and work capacity, is mainly used to execute underwater investigation, sea
The tasks such as bottom exploration, sea bed exploitation and salvaging, lifesaving；General submersible uses axis propulsion mode, and one is drawn from main thruster
The main cardan shaft of root long length, is pierced by from pressure hull, drives the propeller of ship tail.Prominent main cardan shaft outside and ship tail
The rotation of propeller makes submersible be easy to scrape the objects such as immersed body and fishing net；And the diving depth of submersible is also to lean on
Assist the power of blade to change diving depth, depth of diving service speed is slower, cannot completely under simulation water fast target various spies
Property.
Invention content
The purpose of the present invention is：A kind of ring culvert type unmanned submersible being suitable for complicated underwater condition, tool are provided
There is water droplet is streamlined to quickly propel and the function of dive allows it to be good at special, is changed under controllable high speed water
Emulation Acoustic Object is possibly realized.
The technical scheme is that：Culvert type unmanned submersible, it includes：Shell, main propelling machinery, load cabin with
And trailing cable；
Shell is streamlined structure, and main duct is equipped with along its axis direction；Front support beam and rear branch are equipped in main duct
Support beam；Yaw control duct, rear yaw control duct before the sidewall symmetry of shell is equipped with one group；Preceding yaw control duct and after
The injection blade of automatic adjustment rotating speed is equipped in yaw control duct；
Main propelling machinery is mounted in main duct comprising：Driving motor, the driving in driving motor output shaft
Gear and reverse gear, the positive snail paddle engaged with driving gear, the reversed snail paddle engaged with reverse gear；
It loads cabin to be mounted in front support beam, head leans out shell；
Trailing cable is connect with the battery compartment in shell, and is controlled driving motor, injection blade.
Advantageous effect：The load cabin of the present invention is mounted on shell front, is not made an uproar by rear portion duct flow noise and transmission
The influence of sound；Main propelling machinery is mounted in the main duct of shell, reduces the more wake flow phenomenons generated during underwater navigation
And reduce potential faults；The underwater posture of the present invention can be according to the difference for the injection blade setting that can each automatically adjust rotating speed
Rotating speed changes；The resistance that streamlined shell generates under water is small, can fast approaching target, simulate various Acoustic Objects played the part of for
The simulation objectives such as required fish, torpedo, submarine, pump injection wake flow are even more to simulate all kinds of Acoustic Object height emulation, also can machine
Device hand operation module fast implements underwater troubleshooting operation.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Referring to attached drawing, culvert type unmanned submersible, it includes：Shell 4, main propelling machinery, load cabin 8 and towing electricity
Cable 1；
Shell 4 is streamlined structure, and main duct 15 is equipped with along its axis direction；Be equipped in main duct 15 front support beam 10 with
And rear support beam 12；Yaw control duct 6, rear yaw control duct 14 before the sidewall symmetry of shell 4 is equipped with one group；Preceding yaw control
The injection blade of automatic adjustment rotating speed is equipped in duct 6 processed and rear yaw control duct 14；
Main propelling machinery is mounted in main duct 15 comprising：Driving motor 9, on 9 output shaft of driving motor
Driving gear 5 and reverse gear 3, with drive the positive snail paddle 11 engaged of gear 5, the reversed snail paddle that is engaged with reverse gear 3
13；
It loads cabin 8 to be mounted in front support beam 10, head leans out shell 4；
Trailing cable 1 is connect with the battery compartment in shell 4, and is controlled driving motor 9, injection blade, and diving is enabled
Device has the function of remote control.
The present invention is based on two positive snail paddles 11, reversed snail paddles 13 to change the line of production raw main driving force in 15 inward turning of main duct, with this
Reaction torque effect is avoided, while so that submersible is generated different shuntings by several control duct gesture stability power of side
The side-thrust of proportioning so that submersible is navigated by water by the track of operation, or control posture deflection, and the wake flow generated is even more that simulation is each
The best emulation of class Acoustic Object.
In said program, magneto can be used in driving motor 9.Due to being provided with main propelling machinery of the present invention,
Submersible appearance can also be utilized to yaw control duct with the quick dive of plumbness and be changed into horizontal attitude realization at a slow speed
Dive, so as to reach quick dive and at a slow speed the cruise work pattern of dive being combined, to adapt to various different occasions
Demand.
Further, to reduce the turbulence effect that positive snail paddle 5 generates, rear support beam 12 is equipped with water conservancy diversion rudder face, this is first
It is secondary to use flow deflector so that the turbulent flow that positive snail paddle 11 generates is improved the efficiency of reversed snail slurry 13, this is driven in water
Efficiency increases the best approach significantly.
Further, for ease of installing payload, load cabin 8 is equipped with the hemispherical hatchcover being easy to open, installs additional
Modularization composition may be implemented in load.Underwater sound simulator can realize hair orientation forward, and simulation sound wave can also be sent out to side,
It can also replace and carry out underwater operation for manipulator.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. culvert type unmanned submersible, it is characterised in that：It includes：Shell (4), main propelling machinery load cabin (8) and drag
Drag cable (1)；
The shell (4) is streamlined structure, and main duct (15) is equipped with along its axis direction；Before being equipped in the main duct (15)
Supporting beam (10) and rear support beam (12)；The sidewall symmetry of the shell (4) be equipped with one group before yaw control duct (6), after
Yaw control duct (14)；Yaw controls before described is equipped with automatically in duct (6) and the rear yaw control duct (14)
Adjust the injection blade of rotating speed；
The main propelling machinery is mounted in the main duct (15) comprising：Driving motor (9) is mounted on driving electricity
Driving gear (5) and reverse gear (3) on machine (9) output shaft, the positive snail paddle engaged with the driving gear (5)
(11), the reversed snail paddle (13) engaged with the reverse gear (3)；
The load cabin (8) is mounted in the front support beam (10), and head leans out the shell (4)；
The trailing cable (1) connect with the battery compartment in the shell (4), and to the driving motor (9), the injection paddle
Leaf is controlled.
2. culvert type unmanned submersible as described in claim 1, it is characterised in that：The driving motor (9) uses Permanent Magnet and Electric
Machine.
3. culvert type unmanned submersible as claimed in claim 1 or 2, it is characterised in that：The rear support beam (12) is equipped with and leads
Stream interface.
4. culvert type unmanned submersible as claimed in claim 1 or 2, it is characterised in that：The load cabin (8) is equipped with hemisphere
Shape hatchcover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257063.9A CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257063.9A CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107021195A CN107021195A (en) | 2017-08-08 |
| CN107021195B true CN107021195B (en) | 2018-09-18 |
Family
ID=59527134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710257063.9A Active CN107021195B (en) | 2017-04-19 | 2017-04-19 | Culvert type unmanned submersible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107021195B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230919A (en) * | 2022-06-14 | 2022-10-25 | 青岛黄海学院 | Large ship rollover underwater life detection device and method |
| CN116605389B (en) * | 2023-06-30 | 2025-08-19 | 湖南大学 | Annular underwater robot and control method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2280524B1 (en) * | 1974-08-01 | 1977-01-07 | France Etat | DEVICE EQUIPPING AN AUTOMATED UNDERWATER DEVICE CONNECTED TO ITS BASE BY A CABLE |
| CN1153731A (en) * | 1996-11-25 | 1997-07-09 | 冯庆军 | Propeller type submersible ship |
| CN202541818U (en) * | 2012-04-27 | 2012-11-21 | 王常利 | Universal propeller type diving boat |
| CN105818944B (en) * | 2016-04-01 | 2018-07-17 | 深圳潜水侠创新动力科技有限公司 | A kind of remote control submarine applied to undersea detection |
| CN106143846A (en) * | 2016-09-06 | 2016-11-23 | 江苏科技大学 | A kind of small underwater binary sightseeing ship |
-
2017
- 2017-04-19 CN CN201710257063.9A patent/CN107021195B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107021195A (en) | 2017-08-08 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190304 Address after: 100081 91823, 9th floor, 683 Building, No. 5 South Street, Zhongguancun, Haidian District, Beijing Patentee after: Beijing science and technology servo technology Co., Ltd. Address before: Room 506, Zone C, Business Development Park, 69 Jinye Road, Xi'an High-tech Zone, Shaanxi Province, 710077 Patentee before: Xi'an storm Technology Co. Ltd. |