CN106347609B - Dish-shaped underwater spectroradiometer - Google Patents
Dish-shaped underwater spectroradiometer Download PDFInfo
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- CN106347609B CN106347609B CN201611041435.6A CN201611041435A CN106347609B CN 106347609 B CN106347609 B CN 106347609B CN 201611041435 A CN201611041435 A CN 201611041435A CN 106347609 B CN106347609 B CN 106347609B
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- half cabin
- main casing
- module
- shaped underwater
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
Dish-shaped underwater spectroradiometer, it is related to a kind of underwater detection robot, it is poor to solve two kinds of underwater detection robot hydrodynamic performances, energy consumption is higher, the problem of endurance is poor, it includes main casing, and main casing profile is water-drop-shaped, and main casing is mainly made up of the upper half cabin and lower half cabin of sealing docking；Main casing vertical section uses NACA aerofoil profiles；The heave governor motion for control machine people heave is disposed with upper half cabin；The electromagnetic propulsion system for control machine people navigation is disposed with lower half cabin, AC module, the attitude regulation mechanism for control machine people's pose and the gravity center adjusting mechanism for controlling sliding tail to incline of power source are provided to electromagnetic propulsion system；It is additionally provided with upper half cabin for controlling attitude regulation mechanism, gravity center adjusting mechanism and the main control module for heaving governor motion respectively；The battery pack to AC module and main control module transmission of electricity is there also is provided in lower half cabin.The present invention is used for underwater navigation and detected.
Description
Technical field
The present invention relates to a kind of underwater detection robot, and in particular to a kind of dish for possessing a variety of propulsion modes is slided under water
Xiang robot.Belong to underwater detection robot technical field.
Background technology
Underwater robot is hydrodynamic force subject, mechanical subject, the comprehensive point that control subject and facing Information Science are combined
End science product.It at military aspect, can be used as underwater optimal in structure, carry out information countermeasure, region of war protection is underwater prominent anti-, clearance,
And investigation detection etc..It is the effective tool that the mankind are used for exploring and developing marine resources, with the world today at civilian aspect
On resource it is more and more deficienter, the exploitation that increases marine resources is to alleviate the only way which must be passed of Resource Difficulties, so function admirable
The exploitation of underwater detection robot already turns into the object for falling over each other development energetically in various countries.
Two kinds of underwater detection robots of main flow are the streamline of frame-type and class torpedo respectively in the world today, its center
Posture robot automation's degree is relatively low, and ship resistance is larger, and the speed of a ship or plane is relatively low, and job area is smaller, and is open shell, tool
There is more plug-in device easily to wind.And although the streamline robot resistance of another species torpedo is smaller, the speed of a ship or plane is higher,
But its radius of gyration is larger, underaction is difficult accurately to be positioned and operation under the underwater undercurrent interference of complexity.In addition
Both the above underwater robot also has the shortcomings of involving great expense, the higher and endurance that consumes energy is relatively low.Either it is military still
Civilian underwater detection robot all should be smaller with resistance, and flexibility is good, and energy consumption is relatively low, and endurance is strong, simple in construction, makes
The features such as valency is cheap.
The content of the invention
The present invention is poor to solve two kinds of underwater detection robot hydrodynamic performances, and energy consumption is higher, and endurance is poor
Problem, and then a kind of can not only slide but also can be with the dish-shaped underwater spectroradiometer of autonomous navigation is provided.
The present invention adopts the technical scheme that to solve the above problems：A kind of dish-shaped underwater spectroradiometer includes main casing
Body, main casing profile are water-drop-shaped, and main casing is mainly made up of the upper half cabin and lower half cabin of sealing docking；Main casing vertical profile
Face uses NACA aerofoil profiles；
The heave governor motion for control machine people heave is disposed with upper half cabin；
The electromagnetic propulsion system for control machine people navigation is disposed with lower half cabin, provides and moves to electromagnetic propulsion system
The AC module in power source, the attitude regulation mechanism for control machine people position and the weight for controlling gliding machine people's tail to incline
Heart governor motion；
It is additionally provided with upper half cabin for controlling attitude regulation mechanism, gravity center adjusting mechanism and heave governor motion respectively
Main control module；The battery pack to AC module and main control module transmission of electricity is there also is provided in lower half cabin.
Further, electromagnetic propulsion system includes induced magnetization axle, direct piping, bracing strut, magnet coil and propeller；
Further, axis of the direct piping along main casing is arranged on lower half cabin, the both ends difference of direct piping
Water inlet and vector spout are connected, the induced magnetization axle that can be rotated, the both ends difference of induced magnetization axle are installed in direct piping
Spingle carrier bar and propeller, propeller type stator, electromagnetic wire are installed in the direct piping between propeller and vector spout
Circle is wound on the outside of direct piping, and AC module provides power supply to magnet coil.
Further, attitude regulation mechanism includes annular slide track, two balancing weights and two disc type electric machines；Two balancing weights
It is slidably arranged on annular slide track, each balancing weight passes through the output axis connection of axostylus axostyle and disc type electric machine, master control module controls disk
The start and stop of formula motor and rotating speed.
Further, gravity center adjusting mechanism includes lower stepper motor, lower leading screw and balance slide block；Gravity center adjusting mechanism is arranged
In the lower half cabin at ejiction opening, the output end connection lower leading screw of lower stepper motor, balance slide block screwed is under
On leading screw.
Further, heaving governor motion includes upper stepper motor, upper leading screw, cylinder barrel, piston, air bag and cylinder air bag company
Adapter；The output end connection upper leading screw and axis parallel of the two axis and main casing of upper stepper motor, screw thread in upper leading screw
The piston being placed in cylinder barrel is screwed, cylinder barrel is communicated by cylinder air bag connecting tube with air bag.
Further, the front outsides in upper half cabin are provided with bubble generator, and the profile of bubble generator is in crescent.
Further, the front part sides in upper half cabin are provided with bionical tortoise hydrofoil modules, bionical tortoise hydrofoil modules front end edge
The front wheel profile in boundary line and upper cabin seamlessly transits.
Further, the dish-shaped underwater spectroradiometer also includes process auxiliary drive module and two screw propellers,
Two screw propellers are arranged symmetrically, and screw propeller is arranged on bionical tortoise hydrofoil modules, the axle of screw propeller
To the axis parallel with main casing, the start and stop of process auxiliary drive module control screw propeller and rotating speed.
Further, the dish-shaped underwater spectroradiometer also includes two bionic caudal fins, and the afterbody of main casing is symmetrically pacified
Equipped with two bionic caudal fins, each bionic caudal fin includes steering wheel and tail fin, the output end connection tail fin of steering wheel, process auxiliary drive module
Control start and stop and the rotating speed of steering wheel.
Further, battery pack, main control module and AC module are arranged in respective sealed chamber, and sealed chamber is
Cuboid.
The beneficial effects of the invention are as follows：First, present invention design electromagnetic propulsion system ensure that eject stable current from
And dish gliding underwater robot dissipation of energy rate is reduced, energy is saved, vector spout is arranged after propeller type stator,
And then the rotation of gliding machine people in the horizontal plane is realized, the rotation of gliding machine people in the horizontal plane is added, adds cunning
The flexibility of Xiang robot.Attitude regulation mechanism is designed, is advantageous to increase the flexibility of dish-shaped underwater spectroradiometer.Design appearance
State governor motion, be advantageous to adjust the athletic postures such as trim and the heel of dish-shaped underwater spectroradiometer, gravity center adjusting mechanism is adjusted
The rotation of gliding machine people in the horizontal plane is saved, attitude regulation mechanism and gravity center adjusting mechanism improve the flexible of gliding machine people
Property.Attitude regulation mechanism reaches the purpose for adjusting dish-shaped underwater spectroradiometer longitudinal center of gravity.Heave governor motion and posture is adjusted
Save mechanism cooperate, ensure that dish-shaped underwater spectroradiometer can carry out sine wave always and slide, improve hydrodynamic performance and
Endurance.AC module main function is that constant current is converted into alternating current, so that the induced magnetization axle being powered
Rotate and then propeller produces the effect promoted, sensing magnetic can be changed by changing the size and Orientation of the electric current of alternating current
Change rotary speed and the direction of axle.2nd, the present invention is simple in construction, reasonable in design, meets the design requirements and the actual needs.
Brief description of the drawings
Fig. 1 is that electromagnetic propulsion system, AC module, attitude regulation mechanism, the center of gravity being arranged in lower half cabin adjust machine
The structural representation of structure and main control module；
Fig. 2 is the structural representation for the heave governor motion and bubble generator being arranged in upper half cabin；
Fig. 3 is the principle of propeller schematic diagram of dish-shaped underwater spectroradiometer；
Fig. 4 is Distribution of Magnetic Field figure in direct piping.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to technical scheme.
Illustrate with reference to Fig. 1, dish-shaped underwater spectroradiometer includes main casing, and main casing profile is water-drop-shaped, main casing master
To be made up of the upper half cabin 2 and lower half cabin 1 of sealing docking；Main casing vertical section uses NACA aerofoil profiles；
The heave governor motion 2-0 for control machine people heave is disposed with upper half cabin 2；Arranged in lower half cabin 1
There is the electromagnetic propulsion system 1-0 for control machine people navigation, the AC module 1- of power source is provided to electromagnetic propulsion system 1-0
14th, machine is adjusted for the attitude regulation mechanism 1-2 of control machine people position and the center of gravity for controlling gliding machine people's tail to incline
Structure 1-5；It is additionally provided with upper half cabin 2 for controlling attitude regulation mechanism 1-2, gravity center adjusting mechanism 1-5 and heave to adjust respectively
Save mechanism 2-0 main control module 2-4；The electricity to AC module 1-14 and main control module 2-4 transmissions of electricity is there also is provided in lower half cabin 1
Pond group 1-1.
Illustrate referring to Fig. 1, electromagnetic propulsion system 1-0 includes induced magnetization axle 1-17, direct piping 1-20, bracing strut 1-
18th, magnet coil 1-15 and propeller 1-9；Axis of the direct piping 1-20 along main casing is arranged on lower half cabin 1, is led directly to
Pipeline 1-20 both ends connect in water inlet 1-19 and vector spout 1-7, direct piping 1-20 and are provided with the sense that can be rotated respectively
Answer magnetized axis 1-17, induced magnetization axle 1-17 both ends difference spingle carrier bar 1-18 and propeller 1-9, propeller 1-9 and arrow
Propeller type stator 1-8, magnet coil 1-15 are installed in direct piping 1-20 between amount spout 1-7 and are wound on direct piping
1-20 outside, AC module 1-14 provide power supply to magnet coil 1-15.
Magnetized axis 1-17's is shaped as thin pyramidal structure, and induced magnetization axle 1-17 external diameter is sprayed by water inlet 1-19 and vector
Mouth 1-7 is gradually decreased, and is mounted directly the propeller 1-9 of seven blades in induced magnetization axle 1-17 end.Vector spout 1-7 pacifies
Least significant end loaded on gliding machine people, and installing steering wheel can be such that it swings in the horizontal plane, vector nozzle shape is thin using slightly entering
The form gone out, the flow velocity that afterbody sprays current can be effectively increased, improve propulsive efficiency.
Direct piping 1-20 is arranged on the axis of main casing, insertion main casing head and the tail, and direct piping 1-20's
Water inlet goes out to be provided with bracing strut 1-18 to support the induced magnetization axle 1-17 inside direct piping 1-20, and in induced magnetization
Axle 1-17 periphery installs AC module 1-14 and magnet coil 1-15 additional, and constant current is converted into friendship by AC module 1-14
Stream electricity, and then change magnetic direction and size in direct piping 1-20, so that the induced magnetization axle 1-17 being powered is revolved
Turn and drive the propeller 1-9 of end, so that direct piping 1-20 obtains head and the tail and produces pressure differential, and then make current from dish-shaped water
Lower gliding robot stem enters and sprayed from the afterbody of dish-shaped underwater spectroradiometer, and spiral is installed after propeller 1-9
Paddle stator 1-8, so as to ensure to eject stable current, so as to reduce dish-shaped underwater spectroradiometer dissipation of energy rate, to save
About energy, vector spout 1-7 is set after propeller type stator 1-8, and then realizes dish-shaped underwater spectroradiometer in level
Rotation in face, add the flexibility of dish-shaped underwater spectroradiometer.
Illustrate referring to Fig. 1, attitude regulation mechanism 1-2 includes annular slide track 1-3, two balancing weight 1-16 and two disc type electricity
Machine 1-13；Two balancing weight 1-16 are slidably arranged on annular slide track 1-3, and each balancing weight 1-16 passes through axostylus axostyle and disc type electric machine
1-13 output axis connection, main control module 2-4 control disc type electric machines 1-13 start and stop and rotating speed.In dish-shaped underwater spectroradiometer
The center of gravity Installation posture governor motion 1-2 in lower cabin 1, and pass through the circular balancing weight 1- on axostylus axostyle and annular slide track 1-3
16 are connected, dish-shaped underwater so as to adjust by adjusting relative positions of two circular balancing weight 1-16 on annular slide track 1-3
The athletic postures such as the trim and heel of gliding machine people.
Illustrate referring to Fig. 1, gravity center adjusting mechanism 1-5 includes lower stepper motor 1-4, lower leading screw 1-10 and balance slide block 1-
11；Gravity center adjusting mechanism is disposed adjacent in the lower half cabin 1 at ejiction opening, the lower stepper motor 1-4 lower silk of output end connection
Thick stick 1-10, balance slide block 1-11 screweds are on lower leading screw 1-10.Lower stepper motor 1-4 drives lower leading screw 1-10 motions, enters
And adjustment sliding block 1-11 lengthwise position, it is finally reached the purpose for adjusting dish-shaped underwater spectroradiometer longitudinal center of gravity.
Illustrate referring to Fig. 2, heave governor motion 2-0 includes upper stepper motor 2-11, upper leading screw 2-6, cylinder barrel 2-12, piston
2-14, air bag 2-3 and cylinder air bag connecting tube 2-15；Upper stepper motor 2-11 output end connection upper leading screw 2-6 and the two axle
The axis parallel of line and main casing, screwed has the piston 2-14 being placed in cylinder barrel 2-12, cylinder barrel 2-12 on upper leading screw 2-6
Communicated by cylinder air bag connecting tube 2-15 with air bag 2-3.Cylinder barrel 2-12 and air bag 2-3 is installed on the main casing of gliding machine people
Center at, install stepper motor 2-11 on the upper leading screw 2-6 of cylinder barrel 2-12 rear ends, pass through silk in upper stepper motor 2-12 drives
Thick stick 2-6 is rotated and then moved back and forth with piston 2-14, the amount of air in compressed air regulation air bag, so as to reach control heave
Purpose.Air bag 2-3 uses circular profile, and the center of circle overlaps with the center of gravity of main casing.
Illustrate referring to Fig. 2, the front outsides in upper half cabin 2 are provided with bubble generator 2-16, bubble generator 2-16's
Profile is in crescent.Bubble generator 2-16 is distributed in dish-shaped underwater underwater spectroradiometer stem upper and lower surface, produces during work
The raw latent device surface of micro-bubble covering, endurance is greatly increased so as to be advantageous to reduce resistance and then save the energy.
Illustrate referring to Fig. 2, the front part sides in upper half cabin 2 are provided with bionical tortoise hydrofoil modules 2-1, bionical tortoise hydrofoil modules
The front wheel profile of 2-1 front ends boundary line and upper cabin 2 seamlessly transits.The same fair line that seamlessly transits and then excellent
Hydrodynamic performance, in addition dish-shaped underwater spectroradiometer can use bionical tortoise formula progression when necessary, be significantly greatly increased hidden
Cover performance.In order to preferably adjust the navigation posture of gliding machine people, two screw propeller 2-2 are arranged symmetrically, propeller
Propeller 2-2 is arranged on bionical tortoise hydrofoil modules 2-1, screw propeller 2-2 axial direction and the axis parallel of main casing,
Process auxiliary drive module 2-13 control screw propellers 2-2 start and stop and rotating speed.
Illustrate referring to Fig. 1, dish-shaped underwater spectroradiometer also includes two bionic caudal fin 1-6, and the afterbody of main casing is symmetrical
Two bionic caudal fin 1-6 are installed, each bionic caudal fin includes steering wheel 2-7 and tail fin 2-8, steering wheel 2-7 output end connection tail
Fin 2-8, process auxiliary drive module 2-13 control steering wheel 2-7 start and stop and rotating speed.Process auxiliary drive module 2-13 and main control module 2-4 edges
The axis of main casing is arranged symmetrically in upper half cabin 2, and underwater spectroradiometer afterbody is provided with the imitative of two servos controls
Raw tail fin 1-6, makes to produce specific response relation between tail fin and current and is finally reached holding hydrofoil using Automatic Control Theory
The purpose of steady steaming.
Illustrate referring to Fig. 1, battery pack 1-1, main control module 2-4 and AC module 1-14 are arranged in respective sealed chamber
Interior, sealed chamber is cuboid.It is arranged such, using modularized design, saves space, be easy to arrange, meet design requirement
Be actually needed.
Operation principle
Illustrate referring to Fig. 1-Fig. 4, wherein 3-2 represents magnetic direction, and filled arrows represent the sense of current, and hollow arrow represents
The direction of power, 3-4 are electrographite brush, and battery pack 1-1 is transmitted electricity the single arrow given in AC module 1-14, Fig. 4 by electrographite brush 3-4
Head direction represents the magnetic direction in direct piping 1-20.Filled in the cylinder barrel 2-12 and air bag 2-3 of dish-shaped underwater spectroradiometer
Enter helium, drive upper leading screw 2-6 to be moved and then with piston 2-14 by stepper motor 2-11 on air bag 2-3 rear ends, by helium
Being compressed into increases the buoyancy of dish-shaped underwater spectroradiometer in air bag 2-3, buoyancy is more than gravity, main control module 2-4 controls
The position that balancing weight 1-16 on circular orbit 1-3 is all adjusted to center of gravity rear by disc type electric machine 1-13 makes dish-shaped underwater gliding
Robot produces tail and inclined, because the longitudinal profile of gliding machine people is NACA aerofoil profiles, in the comprehensive function that buoyancy and tail incline
Lower dish-shaped underwater spectroradiometer will carry out sine wave with a certain wave height and wavelength and slide, when sliding into crest, piston 2-
14 motion pumpings make the helium in air bag 2-3 reduce and then the buoyancy of dish-shaped underwater spectroradiometer is less than gravity, now lead to
Main control module 2-4 is crossed by before the balancing weight 1-16 on circular orbit 1-3 all is adjusted into center of gravity, makes dish-shaped underwater glider
Device people produces trim by stem, final dish-shaped underwater spectroradiometer can glide downwards under gravity, lived when sliding into trough
2-14 motions are filled in, can be inflated again to air bag 2-3, increase its buoyancy and produce tail and incline to make dish-shaped underwater spectroradiometer upward
Slide, repetition said process dish underwater spectroradiometer can carry out sine wave always and slide.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can utilize the disclosure above are done
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification that the technical spirit according to the present invention is done to above case study on implementation, still belong to
Technical solution of the present invention scope.
Claims (10)
- A kind of 1. dish-shaped underwater spectroradiometer, it is characterised in that：It includes main casing, and main casing profile is water-drop-shaped, main casing Body is mainly by the upper half cabin of sealing docking（2）With lower half cabin（1）Composition；Main casing vertical section uses NACA aerofoil profiles；Upper half cabin（2）Inside it is disposed with the heave governor motion for control machine people heave（2-0）；Lower half cabin（1）Interior cloth It is equipped with the electromagnetic propulsion system for control machine people navigation（1-0）, give electromagnetic propulsion system（1-0）The exchange of power source is provided Module（1-14）, attitude regulation mechanism for control machine people position（1-2）And incline for controlling gliding machine people's tail Gravity center adjusting mechanism（1-5）；Upper half cabin（2）Inside it is additionally provided with for controlling attitude regulation mechanism respectively（1-2）, center of gravity regulation Mechanism（1-5）With heave governor motion（2-0）Main control module（2-4）；Lower half cabin（1）Inside it there also is provided to AC module （1-14）And main control module（2-4）The battery pack of transmission of electricity（1-1）.
- 2. dish-shaped underwater spectroradiometer according to claim 1, it is characterised in that：Electromagnetic propulsion system（1-0）Including Induced magnetization axle（1-17）, direct piping（1-20）, bracing strut（1-18）, magnet coil（1-15）And propeller（1-9）；It is straight-through Pipeline（1-20）Lower half cabin is arranged in along the axis of main casing（1）On, direct piping（1-20）Both ends connect respectively into The mouth of a river（1-19）With vector spout（1-7）, direct piping（1-20）The induced magnetization axle that can be rotated inside is installed（1-17）, sensing Magnetized axis（1-17）Both ends difference spingle carrier bar（1-18）And propeller（1-9）, propeller（1-9）With vector spout（1- 7）Between direct piping（1-20）Propeller type stator is inside installed（1-8）, magnet coil（1-15）It is wound on direct piping （1-20）Outside, AC module（1-14）To magnet coil（1-15）Power supply is provided.
- 3. dish-shaped underwater spectroradiometer according to claim 1 or 2, it is characterised in that：Attitude regulation mechanism（1-2）Bag Include annular slide track（1-3）, two balancing weights（1-16）With two disc type electric machines（1-13）；Two balancing weights（1-16）Slide and set In annular slide track（1-3）On, each balancing weight（1-16）Pass through axostylus axostyle and disc type electric machine（1-13）Output axis connection, master control mould Block（2-4）Control disc type electric machine（1-13）Start and stop and rotating speed.
- 4. dish-shaped underwater spectroradiometer according to claim 3, it is characterised in that：Gravity center adjusting mechanism（1-5）Including Lower stepper motor（1-4）, lower leading screw（1-10）And balance slide block（1-11）；Gravity center adjusting mechanism is disposed adjacent at ejiction opening Lower half cabin（1）It is interior, lower stepper motor（1-4）Output end connection lower leading screw（1-10）, balance slide block（1-11）Screwed In lower leading screw（1-10）On.
- 5. according to the dish-shaped underwater spectroradiometer described in claim 1,2 or 4, it is characterised in that：Heave governor motion（2-0） Including upper stepper motor（2-11）, upper leading screw（2-6）, cylinder barrel（2-12）, piston（2-14）, air bag（2-3）Connect with cylinder air bag Adapter（2-15）；Upper stepper motor（2-11）Output end connection upper leading screw（2-6）And the axis of the two axis and main casing It is parallel, upper leading screw（2-6）Upper screwed is placed in cylinder barrel（2-12）Interior piston（2-14）, cylinder barrel（2-12）Pass through cylinder gas Capsule connecting tube（2-15）With air bag（2-3）Communicate.
- 6. dish-shaped underwater spectroradiometer according to claim 5, it is characterised in that：Upper half cabin（2）Front outsides Bubble generator is installed（2-16）, bubble generator（2-16）Profile be in crescent.
- 7. dish-shaped underwater spectroradiometer according to claim 6, it is characterised in that：Upper half cabin（2）Front part sides It is provided with bionical tortoise hydrofoil modules（2-1）, bionical tortoise hydrofoil modules（2-1）Front end boundary line and upper half cabin（2）Front wheel Profile seamlessly transits.
- 8. dish-shaped underwater spectroradiometer according to claim 7, it is characterised in that：The dish-shaped underwater spectroradiometer Also include process auxiliary drive module（2-13）With two screw propellers（2-2）, two screw propellers（2-2）Symmetrical cloth Put, screw propeller（2-2）Installed in bionical tortoise hydrofoil modules（2-1）On, screw propeller（2-2）Axial direction and main casing The axis parallel of body, process auxiliary drive module（2-13）Control screw propeller（2-2）Start and stop and rotating speed.
- 9. dish-shaped underwater spectroradiometer according to claim 8, it is characterised in that：The dish-shaped underwater spectroradiometer Also include two bionic caudal fins（1-6）, the afterbody of main casing is symmetrically installed with two bionic caudal fins（1-6）, each bionic caudal fin Including steering wheel（2-7）And tail fin（2-8）, steering wheel（2-7）Output end connection tail fin（2-8）, process auxiliary drive module（2-13）Control Steering wheel processed（2-7）Start and stop and rotating speed.
- 10. according to the dish-shaped underwater spectroradiometer described in claim 1,2,4,6,7,8 or 9, it is characterised in that：Battery pack （1-1）, main control module（2-4）And AC module（1-14）It is arranged in respective sealed chamber, sealed chamber is cuboid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041435.6A CN106347609B (en) | 2016-11-23 | 2016-11-23 | Dish-shaped underwater spectroradiometer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041435.6A CN106347609B (en) | 2016-11-23 | 2016-11-23 | Dish-shaped underwater spectroradiometer |
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| Publication Number | Publication Date |
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| CN106347609A CN106347609A (en) | 2017-01-25 |
| CN106347609B true CN106347609B (en) | 2018-03-16 |
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| CN201611041435.6A Expired - Fee Related CN106347609B (en) | 2016-11-23 | 2016-11-23 | Dish-shaped underwater spectroradiometer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106904260A (en) * | 2017-03-21 | 2017-06-30 | 哈尔滨工程大学 | A kind of underwater dish aerodone |
| CN108163164B (en) * | 2017-12-19 | 2019-06-25 | 海南大学 | A kind of submarine navigation device based on Maxwell effect |
| CN108945359B (en) * | 2018-07-11 | 2019-12-31 | 哈尔滨工程大学 | Underwater gliding method of multi-legged robot |
| CN108928450B (en) * | 2018-07-11 | 2019-12-31 | 哈尔滨工程大学 | Underwater flying method of multi-legged robot |
| CN110239667B (en) * | 2019-07-15 | 2020-08-04 | 山东海洋信息技术研究院 | Higher ocean of security is surveyd and is used submerged buoy |
| CN110871877B (en) * | 2019-11-27 | 2021-02-09 | 中国舰船研究设计中心 | Disc type underwater glider |
| CN111745649A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot leveling method and device |
| CN111976933B (en) * | 2020-08-25 | 2021-08-10 | 长江大学 | Novel dive formula wisdom water utilities monitoring front end equipment |
| CN111874193B (en) * | 2020-08-26 | 2023-12-26 | 沈阳工业大学 | Small multifunctional underwater robot and working method thereof |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
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| NO301063B1 (en) * | 1995-03-21 | 1997-09-08 | Norske Stats Oljeselskap | A seal |
| CN104118549B (en) * | 2014-08-11 | 2016-08-17 | 博瑞智（天津）信息科技有限公司 | Simple joint machine fish and underwater propulsion platform |
| CN204287960U (en) * | 2014-11-30 | 2015-04-22 | 中国科学院沈阳自动化研究所 | A kind of manned underwater vehicle emergency steaming controller |
| CN204659998U (en) * | 2015-04-02 | 2015-09-23 | 浙江海洋学院 | A kind of under-water operation robot device |
| CN105564617B (en) * | 2016-02-22 | 2017-07-14 | 山东大学（威海） | Parallel connection type vector propulsion mechanism and the underwater robot with the mechanism |
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