CN105947150B - A kind of underwater helicopter - Google Patents
A kind of underwater helicopter Download PDFInfo
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- CN105947150B CN105947150B CN201610304107.4A CN201610304107A CN105947150B CN 105947150 B CN105947150 B CN 105947150B CN 201610304107 A CN201610304107 A CN 201610304107A CN 105947150 B CN105947150 B CN 105947150B
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- fixed
- titanacycle
- propeller
- block
- hole
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
- B63G8/08—Propulsion
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of underwater helicopter, main part by：Upper cover, lower cover, propeller, titanacycle, application cylinder, fixed frame, welding block, link block, fixed block, screw composition, application cylinder is fixed on fixed frame, the strut end of fixed frame and welding block welding, welding block, link block, titanacycle are fixed by bolt and nut, upper cover, lower cover bolt pass through through-hole and titanacycle to fix；If desired underwater helicopter dive or floating only need the propeller rotation that controlled level is upward；To realize the forward-reverse of underwater helicopter, then the propeller rotating of controlled level direction is only needed；To realize the hovering of underwater helicopter, as long as the upward propeller of controlled level offsets quality in the water of underwater helicopter with certain rotating speed；The aircraft operations are easy, extremely flexibly.
Description
Technical field
The present invention is to be related to a kind of submersible, is concretely related to a kind of using dish design, underwater wireless high-speed light
3000 meter level submersibles of the communication technology.
Background technology
Always be problem in the operation and investigation work of water-bed environment especially abyssal environment, with science and technology into
Step, more and more underwater robots, which are continuously created, to be come, and is carried manipulator, sonar, camera and data sampling sensor and is goed deep into
Explore the underwater world in the bottom.Since the water-bed region of exploration is different, underwater robot be divided into have propeller and without propeller, have cable
It is a variety of with untethered, water-bed crawler travel and water-bed fixed point work (inaction ability) etc..And the shape of underwater robot is also more
For rectangle, cylinder or streamlined, all robots with ability to act mostly use these configuration designs to facilitate detection
The carrying of equipment reduces fluid resistance.Therefore, the underwater robot with action work capacity most of at present all exists
Following two deficiencies：1. flexibility ratio is poor；2. it can not realize arbitrary hovering.
But the application field of robot under water：The realization of seabed mobile observation network, the data between seabed operation point
It plugs into energy, the cruise and detection of sensitive sea-bed area, submerged pipeline monitoring and maintenance, seabed are rescued and salvaged, and seabed is examined
Gu etc. puts forward higher requirements the mobility of submersible, and underwater robot is needed to have good spot hover work energy
The movement flexibility ratio of power and superelevation.
In addition, current domestic main submarine navigation device, which mostly uses, cable communication, therefore longer cable, this meeting can be carried
Influence the movement of underwater robot.
And present invention overcomes the deficiencies in the prior art, it provides a kind of using dish design, can realize arbitrary turn
To, arbitrary bottom, arbitrary landing, arbitrary hovering, there is oversoul to live mobility, filled up submersible from sea to the seabed side of work
The blank of formula so that submersible need not carry long cable, so as to further improve its flexibility.
The design work depth of water maximum of the present invention belongs to deepwater work grade submersible up to 3000 meters.
Invention content
The purpose of the present invention is overcoming the deficiencies in the prior art, provide a kind of using disk-shaped body design, Ke Yishi
The now underwater operation grade aircraft of hovering operation under water.
In order to solve the above-mentioned technical problem, the present invention is to be achieved through the following technical solutions：
The present invention underwater helicopter, main part by：Upper cover 1, propeller 3, titanacycle 4, application cylinder 5, is fixed lower cover 2
Frame 6, welding block 7, link block 8, fixed block 9, screw 10 form.
The upper cover 1 is dish, and four upper grooves 1.1 of edge uniform ring cloth, bottom portion of groove is provided with tapped through hole；
The lower cover 2 is dish, and four lower grooves 2.1 of edge uniform ring cloth, bottom portion of groove is provided with tapped through hole；
The titanacycle 4 is set on 2 upper cover 1, lower cover positions, is made of four sections of quarter circular arcs, and material is titanium alloy,
There is end fit structure at circular arc both ends, and the end fit structure is by radial direction halfpace 4.1, threaded hole 4.2, chimb 4.3, axial halfpace
4.4 compositions, and the end fit structure at circular arc both ends is outside an inclined circular arc, inside an inclined circular arc respectively；
The titanacycle 4 is fixed with application cylinder 5 centrally through fixed frame 6；Driving circuit and light are included in the application cylinder 5
The control modules such as terminal and wireless telecommunications；
The fixed frame 6 is made of intermediate 6.2, four struts 6.1 of ring, and the both ends difference uniform welding of strut 6.1 exists
On intermediate ring 6.2 and 4 inner wall of titanacycle；
The weld of the strut 6.1 and intermediate ring 6.2 is provided with several through-holes, which passes through；Screw
10 both ends are fixed on by fixed block 9 on application cylinder 5, which is provided with threaded hole for Z-shaped, bottom surfaces, which supplies
Screw 10 passes through, and tightens screw 10 with nut so that the fixed block up and down 9 of screw 10 is tightly stuck on application cylinder 5, in formation
Portion's fixed structure.
The titanacycle 4 and the weld of strut 6.1 are equipped with welding block 7；The welding block 7 is by boss 7.1, lateral threaded holes
7.2nd, longitudinal threaded bore 7.3 forms, and wherein lateral threaded holes 7.2 and longitudinal threaded bore 7.3 are through-hole, and be mutually communicated, branch
Bar 6.1 passes through lateral threaded holes 7.2, and is weldingly fixed on boss 7.1；On longitudinal threaded bore 7.3 and upper cover 1 on welding block 7
Upper groove 1.1 on threaded hole alignment, with bolt screw in longitudinal threaded bore 7.3 in, fixed cover 1；Similarly, lower cover 2 uses
Same mode is fixed.
4 lateral wall of titanacycle uniformly sets up separately there are four propeller 3, wherein two opposite symmetrical propeller level courts
Upper arrangement, other two are horizontally disposed；
It is connected between the titanacycle 4 and propeller 3 by link block 8, stirrup hole 8.1 is provided on the link block 8, for wearing
Stirrup is crossed to fix propeller 3, centre is provided with tapped through hole 8.2；The side of the link block 8 is concave curved surface 8.3, opposite side
Equipped with two pieces of parallel up and down snap-gauges 8.4；After the end fit structure of two sections of circular arcs is superimposed by the present invention, the axial halfpace of the two
4.4 overlap, and the threaded hole 4.2 on two end fit structures also overlaps；Again because the presence of chimb 4.3 is so as to form upper and lower side
Groove on face, the width and depth of the groove are identical with the width and thickness of snap-gauge 8.4；Snap-gauge 8.4 is caught in the groove, with length
Bolt passes through tapped through hole 8.2, threaded hole 4.2, lateral threaded holes 7.2 so that link block 8, titanacycle 4, welding block 7 are fixed on one
It rises.
Compared with prior art, the beneficial effects of the invention are as follows：The overall structure of the submarine navigation device for dish, conducive to
Hovering action is realized under the control of propeller, and the uniqueness in structure makes its movement nimbly and freely, it can be than other underwater machines
Device people is easier to realize underwater operation and data acquisition.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is fixed schematic diagram inside the present invention；
Fig. 3 is that application cylinder of the present invention fixes schematic diagram；
Fig. 4 is welding block 7,8 position view of link block；
Fig. 5 is 4 end fit structure schematic diagram of titanacycle；
Fig. 6 is the structure diagram of welding block 7, link block 8；
Reference numeral：Upper cover 1, upper groove 1.1, lower cover 2, lower groove 2.1, propeller 3, titanacycle 4, radial direction halfpace 4.1, spiral shell
Pit 4.2, chimb 4.3, axial halfpace 4.4, application cylinder 5, fixed frame 6, strut 6.1, intermediate ring 6.2, welding block 7, boss
7.1st, lateral threaded holes 7.2, longitudinal threaded bore 7.3, link block 8, stirrup hole 8.1, tapped through hole 8.2, arcwall face 8.3, snap-gauge
8.4th, fixed block 9, screw 10.
Specific embodiment
It needs to illustrate the following before this：Due to the present invention contain mechanical structure portion, electronic control part and
Wireless telecommunications and water surface console part, structure is sufficiently complex, and this specification focuses on to describe the machinery knot of the underwater helicopter
Structure part and its innovation, therefore in addition to mechanical structure portion, other parts are no longer discussed in detail.
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
As shown in figures 1 to 6, underwater helicopter of the invention, main part by：Upper cover 1, lower cover 2, propeller 3, titanacycle 4,
Application cylinder 5, fixed frame 6, welding block 7, link block 8, fixed block 9, screw 10 form.
Wherein：
Upper cover 1 is dish, and four upper grooves 1.1 of edge uniform ring cloth, bottom portion of groove is provided with tapped through hole；
Lower cover 2 is dish, and four lower grooves 2.1 of edge uniform ring cloth, bottom portion of groove is provided with tapped through hole；
There are four propeller 3 is common, integrally-built peripheral edge is evenly distributed on, wherein two opposite propeller levels
Upwardly disposed, other two is horizontally disposed；
Titanacycle 4 is made of four sections of quarter circular arcs, and material is titanium alloy, and there is end fit structure at circular arc both ends：By diameter
It is formed, and the end fit structure at circular arc both ends one is partially round to halfpace 4.1, threaded hole 4.2, chimb 4.3, axial halfpace 4.4
Outside arc, inside an inclined circular arc；
Driving circuit and the control modules such as optical transmitter and receiver and wireless telecommunications are included in application cylinder 5；
Fixed frame 6 is made of intermediate 6.2, four struts 6.1 of ring, and 6.1 uniform welding of strut is on intermediate ring 6.2, welding
Place is provided with through-hole, and screw mandrel 10 passes through；
It is made of on welding block 7 boss 7.1, lateral threaded holes 7.2, longitudinal threaded bore 7.3, wherein lateral threaded holes 7.2
It is through-hole with longitudinal threaded bore 7.3；
Stirrup hole is provided on link block 8, for, to fix propeller 3, centre is provided with tapped through hole 8.2, one across stirrup
Face is for arcwall face 8.3, on one side equipped with upper and lower two pieces of snap-gauges 8.4；
Fixed block 9 is provided with threaded hole for Z-shaped, bottom surfaces, and screw mandrel 10 passes through.
The connection relation of each component is described below：
Inside is fixed：There is threaded hole on intermediate ring 6.2 on fixed frame 6, screw 10 passes through；10 upper end of screw is screwed into
Threaded hole in 9 bottom surfaces of top fixed block, lower end are screwed into the bottom surfaces threaded hole of top fixed block 9, upper and lower fixed block it is upper
Portion face is stuck in the capping up and down of application cylinder, and screw 10 is tightened with nut, then fixed block 9 is tightly stuck on application cylinder up and down,
Form internal fixing structure；
Strut 6.1 is pipe, is sleeved on boss 7.1, is welded and fixed；
Titanium alloy annulus section coordinates two-by-two：The chimb 4.3 on the fit structure of end in one annulus segmental arc is against another circle
On the radial direction halfpace 4.1 of ring segmental arc, and the radial direction halfpace 4.1 of itself is also resisted by the chimb of other side 4.3, therefore, both sides'
Axial halfpace 4.4 overlaps, and the threaded hole 4.2 in two sections of titanacycles also overlaps；Because chimb 4.3 there are due to formed on upper and lower end face
Groove, the width and depth of groove be identical with the width and thickness of snap-gauge 8.4；Snap-gauge 8.4 is caught in the groove, is worn with stay bolt
Cross tapped through hole 8.2, threaded hole 4.2, lateral threaded holes 7.2 so that link block 8, titanacycle 4, welding block 7 are fixed together；
Propeller 3 is fixed on link block 8 across stirrup hole 8.1 with stirrup；
The threaded hole on the upper groove 1.1 in upper cover 1 is made to be aligned with the longitudinal threaded bore 7.3 on welding block 7, is revolved with bolt
Enter in longitudinal threaded bore 7.3, fixed cover 1；Similarly, lower cover 2 is fixed in the same way.
The course of work：
Assembling finish and debug it is intact after by underwater helicopter into the water, water surface console carries out control life with lever
The input of order, if desired underwater helicopter dive or floating, the propeller 3 for only needing controlled level upward rotate；To realize water
The forward-reverse of lower helicopter then only needs 3 rotating of propeller of controlled level direction；To realize underwater helicopter
Hovering, as long as the upward propeller 3 of controlled level offsets quality in the water of underwater helicopter with certain rotating speed.The navigation
Device is easy to operate, extremely flexibly.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula, can also be before present inventive concept not be departed from the knowledge having in the technical field those of ordinary skill
Put that various changes can be made.In addition, the undeclared part involved in the present invention is same as the prior art or is added using the prior art
To realize.
Claims (1)
1. a kind of underwater helicopter, by：Upper cover (1), lower cover (2), propeller (3), titanacycle (4), application cylinder (5), fixed frame
(6), welding block (7), link block (8), fixed block (9), screw (10) composition, it is characterised in that：
The upper cover (1) and lower cover (2) are dish, and four grooves of edge uniform ring cloth, bottom portion of groove is provided with tapped through hole；
The titanacycle (4) position between upper cover (1), lower cover (2), is made of four sections of quarter circular arcs；Circular arc both ends point
Not She You end fit structure, the end fit structure is by radial direction halfpace (4.1), threaded hole (4.2), chimb (4.3), axial ladder
Platform (4.4) forms, and the end fit structure at circular arc both ends is outside an inclined circular arc, inside an inclined circular arc respectively；
The titanacycle (4) is fixed with application cylinder (5) centrally through fixed frame (6)；Driving circuit is equipped in the application cylinder (5)
With optical transmitter and receiver and wireless communication control module；
The fixed frame (6) is made of intermediate ring (6.2), four struts (6.1), the both ends uniformly weldering respectively of strut (6.1)
It is connected on intermediate ring (6.2) and titanacycle (4) inner wall；
The strut (6.1) and the weld of intermediate ring (6.2) are provided with several through-holes, which passes through；Silk
The both ends of bar (10) are fixed on by fixed block (9) on application cylinder (5), which is provided with threaded hole for Z-shaped, bottom surfaces,
The threaded hole screw mandrel (10) passes through, and tightens screw (10) with nut so that the fixed block up and down (9) of screw (10) tightly blocks
On application cylinder (5), internal fixing structure is formed；
The titanacycle (4) and the weld of strut (6.1) are equipped with welding block (7)；The welding block (7) mainly by boss (7.1),
Lateral threaded holes (7.2), longitudinal threaded bore (7.3) composition, wherein lateral threaded holes (7.2) and longitudinal threaded bore (7.3) are
Through-hole, and be mutually communicated, strut (6.1) is weldingly fixed on boss (7.1) across lateral threaded holes (7.2)；Welding block (7)
On longitudinal threaded bore (7.3) be aligned with the threaded hole of upper cover (1) groove, screwed in longitudinal threaded bore (7.3) with bolt, it is fixed
Upper cover (1)；Longitudinal threaded bore (7.3) on welding block (7) is aligned with the threaded hole of lower cover (2) groove, and longitudinal direction is screwed in bolt
In threaded hole (7.3), fixed lower cover (2)；
Described titanacycle (4) lateral wall uniformly sets up separately there are four propeller (3), wherein two opposite symmetrical propeller level courts
Upper arrangement, other two are horizontally disposed；
The titanacycle (4) is connect between propeller (3) by link block (8), and stirrup hole (8.1) is provided on the link block (8),
For across stirrup, to fix propeller (3), centre is provided with tapped through hole (8.2)；The side of the link block (8) is concave arc
Face (8.3), opposite side are equipped with two pieces of parallel up and down snap-gauges (8.4)；After the end fit structure superposition of two sections of circular arcs, the two
Axial halfpace (4.4) overlap, and the threaded hole (4.2) on two end fit structures also overlaps；Again because chimb (4.3) are deposited
So as to form the groove on upper and lower end face, the width and depth of the groove are identical with the width and thickness of snap-gauge (8.4)；Snap-gauge
(8.4) groove is caught in, passes through tapped through hole (8.2), threaded hole (4.2), lateral threaded holes (7.2) with stay bolt so that even
Block (8), titanacycle (4), welding block (7) is connect to be fixed together；
The material of the titanacycle (4) is titanium alloy；
If desired underwater helicopter dive or floating, the propeller for only needing controlled level upward (3) rotation；It is underwater straight to realize
The forward-reverse of the machine of liter, then only need propeller (3) rotating of controlled level direction；To realize the outstanding of underwater helicopter
Stop, as long as the propeller (3) that controlled level is upward is with quality in the water of certain underwater helicopter of rotating speed counteracting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304107.4A CN105947150B (en) | 2016-05-09 | 2016-05-09 | A kind of underwater helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304107.4A CN105947150B (en) | 2016-05-09 | 2016-05-09 | A kind of underwater helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105947150A CN105947150A (en) | 2016-09-21 |
| CN105947150B true CN105947150B (en) | 2018-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610304107.4A Active CN105947150B (en) | 2016-05-09 | 2016-05-09 | A kind of underwater helicopter |
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| CN (1) | CN105947150B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218840B (en) * | 2016-09-30 | 2018-08-21 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
| CN106672182A (en) * | 2016-10-28 | 2017-05-17 | 湖南科技大学 | Underwater submerged plate |
| CN108327873A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of observation grade underwater robot structure |
| CN107315418A (en) * | 2017-04-20 | 2017-11-03 | 杭州电子科技大学 | A kind of helicopter under water and control method based on mobile phone control |
| CN107380376B (en) * | 2017-07-31 | 2018-06-19 | 乐清市风杰电子科技有限公司 | It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| US10988218B2 (en) | 2017-12-26 | 2021-04-27 | Tianjin Deepfar Ocean Technology Co., Ltd. | Remotely operated underwater vehicle and control method therefor |
| CN109367737B (en) * | 2018-09-21 | 2020-12-08 | 河海大学常州校区 | Underwater sediment sampling robot |
| CN109677575B (en) * | 2019-01-04 | 2020-05-19 | 浙江大学 | Underwater helicopter with rotatable propeller structure |
| CN109693775A (en) * | 2019-01-10 | 2019-04-30 | 西北工业大学 | A kind of dish-shaped submarine navigation device of the dynamical system based on valve switch in conjunction with duct motor |
| CN110143269B (en) * | 2019-06-11 | 2020-06-16 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Multi-dimensional motion disc-shaped underwater glider |
| CN110316338B (en) * | 2019-07-12 | 2020-05-19 | 西北工业大学 | Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof |
| CN110588926A (en) * | 2019-09-17 | 2019-12-20 | 哈尔滨工程大学 | Underwater monitoring device and laying and recycling method |
| CN111099005B (en) * | 2019-12-13 | 2021-06-25 | 中国南方电网有限责任公司超高压输电公司广州局 | Side pushing device for anti-cross-flow cableless underwater robot |
| CN111319738B (en) * | 2020-04-15 | 2021-02-09 | 浙江大学 | Novel super-power-driven underwater helicopter and control method thereof |
| CN111559481A (en) * | 2020-05-25 | 2020-08-21 | 江苏科技大学 | Round butterfly-shaped underwater glider |
| CN113203594A (en) * | 2021-04-12 | 2021-08-03 | 常州机电职业技术学院 | Small-size underwater sediment sampling robot |
| CN114802658A (en) * | 2022-03-18 | 2022-07-29 | 南京农业大学 | Dish-shaped underwater robot for aquaculture monitoring |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR8700732A (en) * | 1987-02-11 | 1988-08-30 | Aparecido Costa Morais | SPACESHIP AND SEA IN FLYING DISC FORMAT |
| CN102616353B (en) * | 2012-04-17 | 2014-03-26 | 哈尔滨工程大学 | Saucer submersible |
| CN203921174U (en) * | 2014-05-30 | 2014-11-05 | 西北工业大学 | A kind of four rotor submarine navigation devices |
| CN204364884U (en) * | 2014-11-25 | 2015-06-03 | 马铿杰 | Novel flying saucer device |
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2016
- 2016-05-09 CN CN201610304107.4A patent/CN105947150B/en active Active
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Effective date of registration: 20211124 Address after: 316000 room 101-9, No. 10, Baichuan Road, Lincheng street, Zhoushan Marine Science City, Dinghai District, Zhoushan City, Zhejiang Province Patentee after: Zhejiang oushentai Marine Technology Co.,Ltd. Address before: 310013 Yuhang Tang Road, Xihu District, Hangzhou, Zhejiang 866 Patentee before: ZHEJIANG University |