CN108945363B - Flexible connection's unmanned submarine of multisection - Google Patents
Flexible connection's unmanned submarine of multisection Download PDFInfo
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- CN108945363B CN108945363B CN201810908988.XA CN201810908988A CN108945363B CN 108945363 B CN108945363 B CN 108945363B CN 201810908988 A CN201810908988 A CN 201810908988A CN 108945363 B CN108945363 B CN 108945363B
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- hull
- submarine
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- unmanned submarine
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The invention discloses a flexibly connected multi-section unmanned submarine, which comprises a first submarine body, wherein a power supply driving structure is fixedly arranged in the first submarine body, a remote control mechanism is fixedly arranged on one side of the power supply driving structure, and a second submarine body is movably arranged on one side of the first submarine body. The invention divides the original section of unmanned submarine structure into a plurality of sections by arranging a series of structures in the using process of the device, and can enable the unmanned submarine to go deep into the interior to detect the overall situation when encountering an underwater rock cavern or pipeline with a smaller corner by matching the connecting hose, thereby increasing the application range of submarine detection of the unmanned submarine, protecting the connecting hose, avoiding the connecting hose from being worn by the protruding rocks and the like during the detection of the unmanned submarine, and simultaneously not influencing the swing amplitude of the first submarine body and the third submarine body.
Description
Technical Field
The invention relates to the technical field of unmanned submarines, in particular to a flexibly-connected multi-section unmanned submarines.
Background
Unmanned submarine is the intelligent submarine that need not the driver, and is used to collect information more, sea search and reconnaissance, but current unmanned submarine is mostly a lesson, hardly deepens to inside when meetting the less underwater rock cavern of corner or pipeline and goes to detect the overview, has reduced unmanned submarine detection's application scope, and, unmanned submarine relies on the material of hull as the guarantee, and its protective structure is comparatively single, is difficult to play the guard action to outside additional structure.
Disclosure of Invention
The present invention aims to provide a flexibly connected multi-section unmanned submarine, which solves the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a flexibly connected multi-section unmanned submarine comprises a first submarine body, wherein a power driving structure is fixedly mounted inside the first submarine body, a remote control mechanism is fixedly mounted on one side of the power driving structure, a second submarine body is movably mounted on one side of the first submarine body, a third submarine body is movably mounted on the other side of the first submarine body, an observation cavity is formed inside the second submarine body, a camera shooting mechanism is fixedly mounted inside the observation cavity, a connecting hose is movably mounted between the first submarine body and the second submarine body, a baffle is arranged outside the connecting hose, ballast cavities are formed in the inner surfaces of the first submarine body, the second submarine body and the third submarine body, a detection structure is fixedly mounted inside the third submarine body, a balance cavity is fixedly mounted on the outer surface of the rear end of the second submarine body, and a fixing column is fixedly mounted on the inner surface of the second submarine body close to the position of the connecting hose, the outside of fixed column is provided with the fixture block, and one side of fixture block is provided with the holding ring, and the inside of holding ring runs through there is the locating pin, the constant head tank has been seted up to the surface of second hull near the position of baffle, and the surface of baffle has seted up the fixed slot, the inside of fixed slot runs through there is the fixed pin.
Through adopting above-mentioned technical scheme, make this device in the use with the unmanned submarine structure of one section originally fall into the multisection, and use through coupling hose's cooperation, can make unmanned submarine also can go deep into inside when meetting the less underwater rock cavern of corner or pipeline and go to detect the hology, the application scope of unmanned submarine seabed detection has been increased, and, can be at protection coupling hose, when avoiding that the outstanding rock of unmanned submarine when surveying etc. causes wearing and tearing to coupling hose, can not influence the amplitude of oscillation of first hull and third hull.
Preferably, the outer surface of the fixing column is provided with grooves, the number of the clamping blocks is four, the number of each clamping block is two, and a rotating shaft is movably arranged between each clamping block.
Through adopting above-mentioned technical scheme, the fixture block fixed position of being convenient for is fixed in the setting of recess.
Preferably, the outer surface of one end of the baffle is welded with a positioning block, and the outer surface of the positioning groove is provided with a stopping groove.
Through adopting above-mentioned technical scheme, the position of fixed stop can be convenient for to the use of locating piece and ending the groove.
Preferably, the fixture block is arc-shaped, and the central angle of the fixture block is one hundred and eighty degrees.
Through adopting above-mentioned technical scheme, the design of the shape of fixture block ensures that two fixture blocks can constitute a ring, restriction coupling hose is in the position on the fixed column.
Preferably, the baffles are shaped like sectors on a vertical plane and are two groups, each group is four, and the central angle of each baffle is ninety degrees.
Through adopting above-mentioned technical scheme, the design of the shape of baffle ensures that it does not influence the swing range of first hull and third hull when protecting coupling hose.
Preferably, the power driving structure is electrically connected with the remote control mechanism, the camera shooting mechanism and the detection structure.
Through adopting above-mentioned technical scheme, the setting of pivot can be convenient for the loading and unloading of fixture block.
In conclusion, the invention has the following beneficial effects:
1. the second hull is movably mounted on one side of the first hull, the third hull is movably mounted on the other side of the first hull, the connecting hose is movably mounted between the first hull and the second hull, the connecting hose penetrates through a fixed column in the second hull and turns outwards to be wrapped on the outer surface of the fixed column when the submarine is used, then a group of clamping blocks are clamped in the groove, the positioning ring and the positioning pin are locked to achieve the purpose of fixing the connecting hose on the fixed column, the arrangement of the second hull and the third hull divides the original section of unmanned submarine structure into multiple sections, and the unmanned submarine can be deep into the interior to detect full appearance when encountering an underwater rock cave or pipeline with a small rotation angle through the matching use of the connecting hose, so that the application range of unmanned submarine detection is enlarged;
2. the baffle is arranged outside the connecting hose, the baffle is respectively inserted into the positioning groove when in use, and then the fixing pin is screwed into the fixing groove to achieve the purpose of fixing the position of the baffle;
drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a mating view of a second hull and connecting hose of the present invention;
FIG. 3 is a schematic view of a fixing column according to the present invention;
fig. 4 is a mating view of a second hull and baffle of the present invention.
In the figure: in the figure: 1. a first hull; 2. a power driving structure; 3. a remote control mechanism; 4. a second hull; 5. a third hull; 6. an observation cavity; 7. a camera mechanism; 8. a connecting hose; 9. a baffle plate; 10. a ballast chamber; 11. detecting the structure; 12. a balancing chamber; 13. fixing a column; 14. a groove; 15. a clamping block; 16. a positioning ring; 17. positioning pins; 18. positioning a groove; 19. fixing grooves; 20. and fixing the pin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 4, the present invention provides a technical solution: a flexibly connected multi-section unmanned submarine comprises a first submarine body 1, a power driving structure 2 fixedly installed inside the first submarine body 1, a remote control mechanism 3 fixedly installed on one side of the power driving structure 2, a second submarine body 4 movably installed on one side of the first submarine body 1, a third submarine body 5 movably installed on the other side of the first submarine body 1, an observation cavity 6 arranged inside the second submarine body 4, a camera mechanism 7 fixedly installed inside the observation cavity 6, a connecting hose 8 movably installed between the first submarine body 1 and the second submarine body 4, a fixing column 13 fixedly installed on the inner surface of the second submarine body 4 close to the connecting hose 8, a clamping block 15 arranged outside the fixing column 13, a positioning ring 16 arranged on one side of the clamping block 15, a positioning pin 17 penetrating through the positioning ring 16, the connecting hose 8 passing through the fixing column 13 in the second submarine body 4 and turning outwards to wrap the outer surface of the fixing column 13, then a group of clamping blocks 15 are clamped on the fixed column 13, a positioning ring 16 and a positioning pin 17 are locked to achieve the purpose of fixing the connecting hose 8 on the fixed column 13, the second hull 4 and the third hull 5 are arranged to divide the original section of unmanned submarine structure into a plurality of sections, and the connecting hose 8 is used in a matched manner, so that the unmanned submarine can also go deep into the inside to detect the full appearance when encountering an underwater rock cave or pipeline with a smaller corner, the application range of submarine detection of the unmanned submarine is increased, a baffle 9 is arranged outside the connecting hose 8, ballast cavities 10 are arranged on the inner surfaces of the first hull 1, the second hull 4 and the third hull 5, a detection structure 11 is fixedly arranged inside the third hull 5, a balance cavity 12 is fixedly arranged on the outer surface of the rear end of the second hull 4, a positioning groove 18 is arranged on the outer surface of the second hull 4 close to the baffle 9, fixed slot 19 is seted up to the surface of baffle 9, fixed pin 20 is run through to the inside of fixed slot 19, insert the constant head tank 18 respectively with baffle 9, twist the purpose that reaches fixed baffle 9 position in fixed slot 19 with fixed pin 20 again, setting up of baffle 9 can protect connecting hose 8 to avoid unmanned submarine outstanding rock when surveying etc. to cause wearing and tearing to connecting hose 8, simultaneously, can not influence the amplitude of oscillation of first hull 1 and third hull 5, optimize the use.
Furthermore, the outer surface of the fixing column 13 is provided with grooves 14, the number of the clamping blocks 15 is four, the number of each group is two, a rotating shaft is movably arranged between each group of the clamping blocks 15, and the grooves 14 are arranged to facilitate the fixing positions of the clamping blocks 15.
Furthermore, the outer surface welding of the one end of baffle 9 has the locating piece, and the surface of constant head tank 18 has seted up and has ended the groove, and the locating piece can be convenient for fixed baffle 9's position with the use that ends the groove.
Further, the shape of the fixture block 15 is arc-shaped, the central angle of the fixture block 15 is one hundred eighty degrees, and the design of the shape of the fixture block 15 ensures that two fixture blocks 15 can form a ring to limit the position of the connecting hose 8 on the fixing column 13.
Further, the shape of baffles 9 on the vertical plane is fan-shaped, the number of baffles is two, the number of baffles in each group is four, the central angle of each baffle 9 is ninety degrees, and the design of the shape of baffles 9 ensures that the amplitude of oscillation of first hull 1 and third hull 5 is not affected while connecting hose 8 is protected.
Further, power drive structure 2 electric connection remote control mechanism 3, camera mechanism 7 and detection structure 11, the setting of pivot can be convenient for the loading and unloading of fixture block 15.
It should be noted that, when the invention is used, firstly, the connecting hose 8 passes through the fixing column 13 in the second hull 4 and turns outwards to wrap the fixing column 13 on the outer surface, the connecting hose 8 is a hollow flexible connecting pipe with strong toughness, then a group of clamping blocks 15 is clamped in the groove 14, the positioning ring 16 and the positioning pin 17 are locked to achieve the purpose of fixing the connecting hose 8 on the fixing column 13, then the other end of the connecting hose 8 is fixed with the front end of the first hull 1 in the same way, and the other connecting hose 8 is fixed with the rear end of the first hull 1 and the front end of the third hull 5 respectively, the arrangement of the second hull 4 and the third hull 5 divides the original section of unmanned submarine structure into a plurality of sections, and the connecting hose 8 is used in cooperation, so that the unmanned submarine can also go deep into the inside to detect the full appearance when encountering an underwater rock cavern or pipeline with a smaller rotation angle, the application range of submarine detection of the unmanned submarine is enlarged, then the baffle plates 9 are respectively inserted into the positioning grooves 18, the fixing pins 20 are screwed into the fixing grooves 19 to fix the positions of the baffle plates 9, the use of the positioning blocks and the stopping grooves is convenient for a user to fix the positions of the baffle plates 9, the baffle plates 9 can protect the connecting hoses 8 from being worn by protruding rocks and the like of the unmanned submarine during detection, meanwhile, the swing amplitude of the first hull 1 and the third hull 5 can not be influenced, finally, when the unmanned submarine is put into use, the remote control mechanism 3 controls the ballast cavity 10 to feed water to enable the submarine to sink, a route is determined according to the surrounding environment shot by the camera 7 in the observation cavity 6, the power supply driving structure 2 drives the submarine to move according to the instruction direction of the remote control mechanism 3, the detection structure 11 searches for sonar and transmits images to the user, is relatively practical.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. 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.
Claims (6)
1. A flexibly connected multi-section unmanned submarine comprising a first hull (1), characterized in that: the interior of the first hull (1) is fixedly provided with a power driving structure (2), one side of the power driving structure (2) is fixedly provided with a remote control mechanism (3), one side of the first hull (1) is movably provided with a second hull (4), the other side of the first hull (1) is movably provided with a third hull (5), the interior of the second hull (4) is provided with an observation cavity (6), the interior of the observation cavity (6) is fixedly provided with a camera shooting mechanism (7), a connecting hose (8) is movably arranged between the first hull (1) and the second hull (4), the exterior of the connecting hose (8) is provided with a baffle (9), the inner surfaces of the first hull (1), the second hull (4) and the third hull (5) are respectively provided with a ballast cavity (10), and the interior of the third hull (5) is fixedly provided with a detection structure (11), the rear end surface fixed mounting of second hull (4) has balanced chamber (12), and the internal surface of second hull (4) is close to the fixed position of coupling hose (8) and installs fixed column (13), the outside of fixed column (13) is provided with fixture block (15), and one side of fixture block (15) is provided with holding ring (16), and the inside of holding ring (16) runs through and has locating pin (17), constant head tank (18) have been seted up to the surface of second hull (4) near the position of baffle (9), and fixed slot (19) have been seted up to the surface of baffle (9), the inside of fixed slot (19) runs through has fixed pin (20).
2. The flexibly linked multi-jointed unmanned submarine according to claim 1, wherein: the outer surface of the fixing column (13) is provided with grooves (14), the number of the clamping blocks (15) is four, the number of each clamping block is two, and a rotating shaft is movably arranged between the clamping blocks (15) in each group.
3. The flexibly linked multi-jointed unmanned submarine according to claim 1, wherein: the outer surface of one end of the baffle (9) is welded with a positioning block, and the outer surface of the positioning groove (18) is provided with a stopping groove.
4. The flexibly linked multi-jointed unmanned submarine according to claim 1, wherein: the fixture block (15) is arc-shaped, and the central angle of the fixture block is one hundred eighty degrees.
5. The flexibly linked multi-jointed unmanned submarine according to claim 1, wherein: the baffles (9) are in the shape of a sector on a vertical plane, the number of the baffles is two, the number of each group is four, and the central angle of each baffle (9) is ninety degrees.
6. The flexibly linked multi-jointed unmanned submarine according to claim 1, wherein: the power driving structure (2) is electrically connected with the remote control mechanism (3), the camera shooting mechanism (7) and the detection structure (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908988.XA CN108945363B (en) | 2018-08-10 | 2018-08-10 | Flexible connection's unmanned submarine of multisection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908988.XA CN108945363B (en) | 2018-08-10 | 2018-08-10 | Flexible connection's unmanned submarine of multisection |
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| Publication Number | Publication Date |
|---|---|
| CN108945363A CN108945363A (en) | 2018-12-07 |
| CN108945363B true CN108945363B (en) | 2020-07-10 |
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| CN201810908988.XA Active CN108945363B (en) | 2018-08-10 | 2018-08-10 | Flexible connection's unmanned submarine of multisection |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1663881A (en) * | 2005-04-12 | 2005-09-07 | 北京大学 | Intelligent robot dolphin |
| CN103979090A (en) * | 2014-05-23 | 2014-08-13 | 河海大学常州校区 | Robot fish with telescopic body |
| CN105171722A (en) * | 2015-10-26 | 2015-12-23 | 冯亿坤 | Eel-like underwater multi-freedom-degree robot |
| CN206050026U (en) * | 2016-07-05 | 2017-03-29 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN206766306U (en) * | 2017-06-06 | 2017-12-19 | 厦门大学 | A kind of machine fish suitable for underwater noise monitoring |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9746444B2 (en) * | 2012-10-27 | 2017-08-29 | Valerian Goroshevskiy | Autonomous pipeline inspection using magnetic tomography |
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2018
- 2018-08-10 CN CN201810908988.XA patent/CN108945363B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1663881A (en) * | 2005-04-12 | 2005-09-07 | 北京大学 | Intelligent robot dolphin |
| CN103979090A (en) * | 2014-05-23 | 2014-08-13 | 河海大学常州校区 | Robot fish with telescopic body |
| CN105171722A (en) * | 2015-10-26 | 2015-12-23 | 冯亿坤 | Eel-like underwater multi-freedom-degree robot |
| CN206050026U (en) * | 2016-07-05 | 2017-03-29 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN206766306U (en) * | 2017-06-06 | 2017-12-19 | 厦门大学 | A kind of machine fish suitable for underwater noise monitoring |
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| CN108945363A (en) | 2018-12-07 |
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