CN111114724B - Small semi-submersible navigation body - Google Patents
Small semi-submersible navigation body Download PDFInfo
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- CN111114724B CN111114724B CN201911352932.1A CN201911352932A CN111114724B CN 111114724 B CN111114724 B CN 111114724B CN 201911352932 A CN201911352932 A CN 201911352932A CN 111114724 B CN111114724 B CN 111114724B
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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
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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
- B63G8/08—Propulsion
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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
- B63G8/14—Control of attitude or depth
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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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a small semi-submersible navigation body which has the advantages of light weight, simple control mode, good navigation stability under high sea conditions, high concealment, high cruising ability, high real-time transmission capability, high path autonomous planning precision and the like, and has various installation interfaces to facilitate function expansion. This semi-submerged formula vehicle includes: the power supply watertight cable, the communication navigation assembly, the control cabin assembly, the connecting fin plate and the power propulsion assembly are arranged on the power supply watertight cable; the whole body is of a double-layer structure and is respectively a power propulsion assembly positioned at the lower layer and a control cabin assembly positioned at the upper layer, so that the gravity center and the floating center of the navigation body are separated; the power propulsion assembly is connected with the control cabin assembly through the connecting fin plate, the communication navigation assembly is installed on the control cabin assembly, and the communication navigation assembly extends out of the water surface and is used for communication navigation. The power supply watertight cable is used for supplying power to the control cabin component by the power propulsion component; the communication watertight cable is used for signal transmission between the communication navigation assembly and the control cabin assembly.
Description
Technical Field
The invention relates to a small semi-submersible navigation body, and belongs to the field of ocean engineering water surface detection.
Background
With the development of marine science and technology, the measurement, investigation, development and utilization of marine environment gradually become the key points of competitive research and development of various countries, and the marine environment monitoring technology is an important embodiment of national technological progress and national comprehensive national strength. The existing marine environment monitoring method comprises the following steps: the system comprises a sea surface monitoring station (station), an offshore anchoring buoy, an underwater submerged buoy, a bottom-sitting seabed-based detection system, an underwater mobile observation platform and the like. The detection methods effectively solve the problems of fixed-point detection, section or profile detection of specific sea areas and the like. However, with the continuous importance of marine resources in various countries around the world and the continuous promotion of the development and utilization process of marine resources, the future marine environment monitoring integrates observation means with different scales and physical mechanisms in various ways to form system integration, and finally develops towards a marine environment three-dimensional monitoring system.
As a novel marine environment mobile monitoring platform, the small semi-submersible type navigation body has the characteristics of flexible self operation, capability of independently planning paths, expandable functions, convenience for ocean carrying, batch distribution and recovery and the like, and will gradually become one of the key points and hot points of the technical research in the field of global marine exploration.
Disclosure of Invention
In view of the above, the present invention provides a small semi-submersible vehicle having a good navigation concealment and a simple control method by separating the center of gravity and the center of buoyancy of the vehicle.
The small semi-submersible type navigation body comprises: the power supply watertight cable, the communication navigation assembly, the control cabin assembly, the connecting fin plate and the power propulsion assembly are arranged on the power supply watertight cable;
the semi-submersible navigation body is of a double-layer structure and comprises a power propulsion assembly positioned on the lower layer and a control cabin assembly positioned on the upper layer respectively; the power propulsion assembly adopts an electric propeller to provide power for the navigation of the navigation body, and the control cabin assembly is used for navigation control of the navigation body;
the power propulsion assembly is connected with the control cabin assembly through a connecting fin plate, the communication navigation assembly is installed on the control cabin assembly, and the communication navigation assembly extends out of the water surface and is used for communication and navigation of the semi-submersible type navigation body;
the power supply watertight cable is connected with the fin plate in a penetrating mode and used for supplying power to the control cabin assembly through the power propulsion assembly; the communication watertight cable is arranged between the communication navigation assembly and the control cabin assembly and is used for signal transmission between the communication navigation assembly and the control cabin assembly.
The gravity center and the floating center of the navigation body are separated, the gravity center and the floating center are both arranged on the connecting fin plate, the gravity center is close to the power propulsion assembly, the floating center is close to the control cabin assembly, and the stability of the rolling attitude and the pitching attitude of the navigation body is ensured by utilizing the restoring moment between the gravity center and the floating center; the whole control cabin subassembly is sealed watertight structure, can adjust navigation body floating center position, the power propulsion subassembly is the structure that permeates water, can adjust navigation body's focus position through increase and decrease counter weight.
Preferably, the communication navigation assembly comprises a radio antenna, a sensor group, a support frame and a buoyancy block; the wireless antenna is used for receiving and sending data, and the sensor group comprises a magnetic compass used for navigation of the navigation body and a Beidou positioning and navigation positioning module;
the support frame includes: the device comprises a top support frame, a bottom support frame and a metal plate which is vertically arranged and positioned between the top support frame and the bottom support frame; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks, and the buoyancy blocks are arranged in a stacked mode along the height direction of the metal plate; a through hole for the communication watertight cable to pass through is arranged between the butt joint surfaces of the left buoyancy block and the right buoyancy block; the radio antenna and the sensor group are fixed on a top support frame; the communication navigation assembly is fixed on the control cabin assembly through a bottom support frame of the support frame.
Preferably, the control cabin assembly comprises a cabin body, and a radio transmitter, a transformer and a navigation control unit which are arranged in the cabin body;
the radio transmitter is communicated with the radio antenna and is used for receiving the instruction of the navigation control unit, amplifying the instruction and transmitting the amplified instruction through the radio antenna; the transformer is used for converting a power supply voltage in the power propulsion assembly into a voltage required by electronic equipment in the control cabin assembly; the navigation control unit is used for planning a path and then sending a navigation control instruction to the power propulsion assembly to enable the navigation body to run according to the planned path;
the cabin body comprises: the device comprises an upper bearing frame, a front cabin hermetically butted with the front side of the upper bearing frame and a rear cabin hermetically butted with the rear side of the upper bearing frame; the radio transmitter and the power supply are mounted in the front cabin; the navigation control unit is arranged in the rear cabin; the outer part of the upper bearing frame is wrapped with a buoyancy block.
Preferably, the connection fin includes: a connecting frame and a buoyancy block; the connecting frame comprises an upper connecting frame, a lower connecting frame and a vertically arranged metal plate positioned between the upper connecting frame and the lower connecting frame; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks, the buoyancy blocks are arranged in a stacking manner along the height direction of the metal plate, and a through hole for the power supply watertight cable 1 to pass through is arranged between the butt joint surfaces of the buoyancy blocks at the left side and the right side; the connecting fin plate is connected with the control cabin assembly through the upper connecting frame and connected with the power propulsion assembly through the lower connecting frame.
Preferably, the power propulsion assembly is a water permeable structure comprising: the device comprises a front air guide sleeve, a side air guide sleeve, a battery pack, a lower bearing frame, a rear air guide sleeve, a propeller and a load mounting frame;
the battery pack is used for supplying power to the propeller and is connected with the control cabin assembly through a power supply watertight cable; the battery pack is arranged in a sealed battery box, and the battery box is fixed in the lower bearing frame;
the front air deflector is arranged at the front end of the load mounting frame, and the load mounting frame is arranged on the lower bearing frame; the two sets of side flow guide covers are respectively fixed at the left side and the right side of the lower bearing frame, and the rear flow guide cover is fixed at the rear end of the lower bearing frame; the two sets of thrusters are arranged in bilateral symmetry and are fixed on the lower bearing frame.
Has the advantages that:
(1) the semi-submersible navigation body is positioned below the water surface by more than 80 percent of the total volume, and has better navigation concealment; and because the water line surface is smaller, the adverse effect of water surface waves on the navigation attitude of the navigation body is reduced;
(2) the navigation body has no movable wing plate, the control mode is simple, and the stability of the rolling attitude and the pitching attitude of the navigation body can be ensured by utilizing the restoring torque between the gravity center and the floating center of the navigation body by separating the gravity center and the floating center of the navigation body; therefore, the strong navigation stability under high sea condition is ensured only by the position relation of the gravity center and the floating center.
(3) The wireless signal transmission system has the advantages that the wireless signal transmission system adopts radio to transmit signals and has long-distance real-time transmission capability;
(4) and various installation interfaces are reserved, so that different marine environment monitoring loads can be conveniently carried.
Drawings
FIG. 1 is a schematic view of a small semi-submersible vehicle according to the present invention;
FIGS. 2-4 are cross-sectional views A-A, B-B, C-C, respectively, of FIG. 1;
FIG. 5 is a schematic diagram of a communication navigation module according to the present invention;
FIG. 6 is a cross-sectional view taken along line D-D of FIG. 5;
FIGS. 7 and 8 are enlarged views of portions I and II of FIG. 6, respectively;
FIGS. 9-11 are schematic views of the control pod assembly of the present invention;
FIGS. 12 and 13 are schematic views of the connecting fin structure of the present invention;
fig. 14-23 are schematic views of the power propulsion assembly of the present invention.
Wherein: 1-power supply watertight cable, 2-communication watertight cable, 3-communication navigation component, 4-control cabin component, 5-connecting fin, 6-power propulsion component, 7-shackle, 8-M16 screw, 9-D16 flat washer, 10-M16 nut, 11-buoyancy block A, 12-M10 screw, 13-radio antenna, 14-sensor group, 15-support frame, 16-buoyancy block B, 17-M8 screw, 18-M8 nut, 19-D8 flat washer, 20-M4 screw, 21-M4 nut, 22-front cabin 22, 23-M10 bolt, 24-upper bearing frame, 25-rear cabin, 26-radio transmitter, 27-transformer, 28-navigation control computer, 29-connecting rack component, 30-front fairing, 31-side fairing, 32-battery pack, 33-lower bearing frame, 35-rear fairing, 36-thruster hoop, 37-thruster, 38-load mounting rack, 39-front locking pin, 40-fixing pin, 41-M4 round head long screw, 42-hasp clamping block, 43-hasp, 44-M4 round head short screw, 45-M4 nut, 47-M4 flat head screw, 48-hinge, 49-hinge backing plate, 51-fixing pin, 52-dragging plate, 53-connecting seat, 54-lifting ring, 55-lower main frame, 56-steel pipe, 57-thruster fixing rack, 58-front panel, 59-rear panel
Detailed Description
The invention is described in further detail below by way of example with reference to the accompanying drawings.
The small semi-submersible type navigation body has light weight; the water surface is below the water surface with more than 80 percent of the total volume, and the water surface has better navigation concealment; the navigation body has no movable wing plate, the control mode is simple, and the navigation stability under high sea condition is ensured only by the position relation between the gravity center and the floating center; the device has long-distance real-time transmission capability; and various installation interfaces are reserved, so that different marine environment monitoring loads can be conveniently carried.
As shown in fig. 1 to 4, the semi-submersible vehicle includes: power supply watertight cable 1, communication watertight cable 2, communication navigation subassembly 3, control cabin subassembly 4, connecting fin 5 and power propulsion subassembly 6. The semi-submersible navigation body is of a double-layer structure and comprises a power propulsion assembly 6 positioned at the lower layer and a control cabin assembly 4 positioned at the upper layer respectively; set up bilayer structure, part the focus and the center of buoyancy of the navigation body, focus and center of buoyancy are all on connecting fin 5, but the focus is close to power propulsion assembly 6, and the center of buoyancy is close to control cabin subassembly 4, can utilize the restoring moment between the center of buoyancy to guarantee the stability of navigation body roll and every single move gesture from this. The power propulsion assembly 6 is connected with the control cabin assembly 4 through the connecting fin plate 5, the communication navigation assembly 3 is installed on the control cabin assembly 4, and the communication navigation assembly 3 extends out of the water surface for communication navigation. Wherein the communication navigation assembly 3 is fixedly connected with the control cabin assembly 4 through a plurality of fasteners consisting of M16 screws 8, D16 flat washers 9 and M16 nuts 10; the control cabin assembly 4 and the connecting fin plate 5 are fixedly connected through M10 screws 12. And the semi-submersible type navigation body is of a symmetrical structure taking the axis of the control cabin assembly 4 as a symmetrical axis, and for convenience of description, the two sides taking the axis of the control cabin assembly 4 as the symmetrical axis are in the left-right direction.
Wherein power supply watertight cable 1 through connection fin 5 for power propulsion subassembly 6 supplies power to control cabin subassembly 4, supplies power watertight cable 1 one end promptly and links to each other with the power in the power propulsion subassembly 6, and the other end links to each other with the transformer in the control cabin subassembly 4, changes mains voltage into the required voltage of electronic components in the control cabin subassembly 4 through the transformer. The communication watertight cable 2 is arranged between the communication navigation assembly 3 and the control cabin assembly 4 and is used for signal transmission between the communication navigation assembly 3 and the control cabin assembly 4.
As shown in fig. 5-8, the communication and navigation assembly 3 is used for communication and navigation of the navigation body and comprises a radio antenna 13, a sensor group 14, a support frame 15 and a buoyancy block B16; the wireless antenna 13 is used for receiving and sending data with a base station, and the sensor group 14 comprises a magnetic compass for navigation of a navigation body, a Beidou positioning module, a navigation positioning module and an expansion interface, and the expansion interface is used for connecting required sensors according to actual use requirements.
The support frame 15 comprises a top support frame, a bottom support frame and a vertically arranged metal plate positioned between the top support frame and the bottom support frame, and the support frame 15 is of an integrally formed structure; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks B16, the buoyancy blocks B16 are closely stacked and arranged along the height direction of the metal plate, wherein the buoyancy blocks B16 on the left side and the right side are fixedly connected with the metal plate positioned in the middle of the metal plate through two fasteners consisting of M8 screws 17, M8 nuts 18 and D8 flat washers 19, and the buoyancy blocks B16 on the left side and the right side of the metal plate are butted to form a streamline shape so as to reduce the resistance in water; a through hole for the communication watertight cable 2 to pass through is arranged between the butt joint surfaces of the left and right buoyancy blocks B16; the radio antenna 13 is fixed on the top support frame through a plurality of fasteners consisting of M8 screws, M8 nuts and D8 flat washers; the sensor pack 14 is secured to the top support bracket by a plurality of fasteners consisting of M4 screws 20 and M4 nuts 21. The communication navigation component 3 is connected with the control cabin component 4 through the bottom support frame of the support frame 15.
As shown in fig. 9-11, a control unit of the navigation body is disposed in the control cabin assembly 4, and the control unit of the navigation body includes: a radio transmitter 26, a transformer 27, and a navigation control computer 28; wherein the radio transmitter 26 is communicated with the radio antenna 13 and is used for receiving the instruction of the navigation control computer 28, and the instruction is transmitted through the radio antenna 13 after being amplified; the transformer 27 is used for converting the battery in the power propulsion assembly 6 into weak voltage to supply power for weak voltage electronic equipment; the navigation control computer 28 is used for planning a path through signals of the navigation positioning module (the navigation positioning module receives signals of the magnetic compass and the Beidou for positioning and then sends the signals to the navigation control computer 28 through the communication watertight cable), and then sends instructions to the propeller in the power propulsion assembly, so that the navigation body runs according to the planned path.
The whole control cabin assembly 4 is of a sealed and watertight structure, and the position of a floating center of the navigation body can be adjusted. The control cabin assembly 4 includes: the device comprises an upper bearing frame 24, a front cabin 22 in sealing butt joint with the front side of the upper bearing frame 24 and a rear cabin 25 in sealing butt joint with the rear side of the upper bearing frame 24; wherein a radio transmitter 26 and a power supply 27 are mounted in the front compartment 22; a navigation control computer 28 is installed in the rear compartment 25; the front cabin 22 and the upper bearing frame 24 are fixed through a plurality of M10 bolts 23 distributed along the circumference of the front cabin 22; the rear compartment 25 and the upper bearing frame 24 are fixed by a plurality of M10 bolts 23 distributed along the circumference of the rear compartment 25. The outer part of the upper bearing frame 24 is wrapped with a buoyancy block A11, and the buoyancy block A11 is adhered to the upper bearing frame 24; meanwhile, the upper bearing frame 24 is provided with a shackle 7 for hoisting the navigation body.
As shown in fig. 12 and 13, the connecting fin 5 is used to connect the control cabin assembly 4 and the power propulsion assembly 6; the connecting fin 5 comprises a connecting frame 29 and a buoyancy block B16. The connecting frame 29 comprises an upper connecting frame, a lower connecting frame and a vertically arranged metal plate positioned between the upper connecting frame and the lower connecting frame, and the connecting frame 29 is of an integrally formed structure; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks B16, the buoyancy blocks B16 are closely stacked and arranged along the height direction of the metal plate, wherein the buoyancy blocks B16 on the left side and the right side are fixedly connected with the metal plate positioned in the middle of the metal plate through two fasteners consisting of M8 screws 17, M8 nuts 18 and D8 flat washers 19, and the buoyancy blocks B16 on the left side and the right side of the metal plate are butted to form a streamline shape so as to reduce the resistance in water; and a through hole for the power supply watertight cable 1 to pass through is arranged between the butt joint surfaces of the left and right buoyancy blocks B16. The connecting fin 5 is connected with the control cabin assembly 4 through an upper connecting frame and is connected with the power propulsion assembly 6 through a lower connecting frame.
As shown in fig. 14-20, the power propulsion assembly 6 provides the navigation power for the navigation body, and the power propulsion assembly 6 is of a water permeable structure, so that the position of the center of gravity of the navigation body can be adjusted by increasing or decreasing the counterweight. The power propulsion assembly 6 comprises: front cowl 30, side cowl 31, battery pack 32, lower carrier frame 33, rear cowl 35, propeller 37, and load mount 38. The propeller 37 in the navigation body is an electric propeller, and the adoption of the electric propeller can meet the requirement of miniaturization of the navigation body. The battery pack 32 includes a strong electric battery for supplying power to the propeller 37 and a weak electric battery electrically connected to a transformer in the control cabin assembly 4 through the power supply watertight cable 1.
The lower bearing frame 33 is a bearing part of the power propulsion assembly 6, the load mounting frame 38 and the front fairing 30 are bonded into a whole (the front fairing 30 is bonded at the front end of the load mounting frame 38), and then the front fairing is fixed on the lower bearing frame 33 through the front locking pin 39 and the fixing pin 40, so that the disassembly and the assembly are convenient; the load mounting frame 38 is used for carrying a load; the two sets of side draft shields 31 are respectively fixed on the left side and the right side of the lower bearing frame 33, the upper portion of the side draft shield 31 is connected with the lower bearing frame 33 through four hinges 48 and M4 flat head screws 47, M4 nuts 45 and hinge backing plates 49 matched with the hinges 48, the side draft shield 31 is connected through the hinges 48 so as to be opened conveniently for replacing the battery pack installed in the bearing frame (the battery pack is installed in a closed battery box which is fixed on the lower bearing frame 33), and the lower portion of the side draft shield 31 is connected with the lower bearing frame 33 through buckles 43 and M4 round head long screws 41, buckle clamping blocks 42, M4 round head short screws 44, M4 nuts 45 and buckle backing plates for fixing the buckles. The rear air guide sleeve 35 is fixed at the rear end of the lower bearing frame 33 through an M8 screw 17; the two sets of thrusters 37 (electric thrusters) are arranged in bilateral symmetry and are fixed on the lower bearing frame 33 through thruster clips 36 and M10 bolts 23; after the propeller 37 is installed, an arrangement can be added to the head of the front fairing 30 to balance the center of gravity and ensure that the axis of the power propulsion assembly 6 is horizontal.
As shown in fig. 21-23, the lower bearing frame 33 is a welded part, and is formed by welding a lower main frame 55, two fixing feet 51 located at the front and rear of the lower main frame 55, a towing plate 52 located at the middle of the lower main frame 55, a connecting seat 53, a lifting ring 54, a steel pipe 56, a propeller fixing frame 57, a front flat plate 58 and a rear flat plate 59; wherein the lower main frame 55 is formed by bending a metal plate, wherein the fixing feet 51 are used for connecting and fixing the navigation body in a storage state, and the semi-submersible navigation body is fixed on a deck; the steel pipe 56 is used for connecting the propeller fixing frame 57 and the lower main frame 55, the front flat plate 58 is used for fixing the front air guide sleeve 30, and the rear flat plate 59 is used for fixing the rear air guide sleeve 35; the connecting base 53 is used for connecting with the connecting fin 5; meanwhile, the shackle 7 is also arranged on the lower bearing frame 33, and the shackle 7 of the lower bearing frame 33 is connected with the hoisting ring 54 and is matched with the shackle 7 on the upper bearing frame 24 for hoisting the navigation body.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A small semi-submersible vehicle, comprising: the device comprises a power supply watertight cable (1), a communication watertight cable (2), a communication navigation assembly (3), a control cabin assembly (4), a connecting fin plate (5) and a power propulsion assembly (6);
the semi-submersible type navigation body is of a double-layer structure and comprises a power propulsion assembly (6) positioned at the lower layer and a control cabin assembly (4) positioned at the upper layer respectively; an electric propeller is adopted in the power propulsion assembly (6) to provide power for the navigation of the navigation body, and the control cabin assembly (4) is used for navigation control of the navigation body;
the power propulsion assembly (6) is connected with the control cabin assembly (4) through a connecting fin plate (5), the communication navigation assembly (3) is installed on the control cabin assembly (4), and the communication navigation assembly (3) extends out of the water surface and is used for communication and navigation of the semi-submersible type navigation body;
the power supply watertight cable (1) is connected with the fin plate (5) in a penetrating manner and used for supplying power to the control cabin assembly (4) through the power propulsion assembly (6); the communication watertight cable (2) is arranged between the communication navigation assembly (3) and the control cabin assembly (4) and is used for signal transmission between the communication navigation assembly (3) and the control cabin assembly (4);
the gravity center and the floating center of the navigation body are separated, the gravity center and the floating center are both arranged on the connecting fin plate (5), the gravity center is close to the power propulsion assembly (6), the floating center is close to the control cabin assembly (4), and the stability of the rolling attitude and the pitching attitude of the navigation body is ensured by utilizing the restoring moment between the gravity center and the floating center; the whole control cabin assembly (4) is of a sealed and watertight structure, the position of a floating center of the navigation body can be adjusted, and the power propulsion assembly (6) is of a pervious structure, and the position of the center of gravity of the navigation body can be adjusted by increasing or decreasing the balance weight;
the communication navigation component (3) comprises a radio antenna (13), a sensor group (14), a support frame (15) and a buoyancy block; the radio antenna (13) is used for receiving and sending data, and the sensor group (14) comprises a magnetic compass and a Beidou positioning device for navigation positioning of a navigation body;
the support frame (15) comprises: the device comprises a top support frame, a bottom support frame and a metal plate which is vertically arranged and positioned between the top support frame and the bottom support frame; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks, and the buoyancy blocks are arranged in a stacked mode along the height direction of the metal plate; a through hole for the communication watertight cable (2) to pass through is arranged between the butt joint surfaces of the left buoyancy block and the right buoyancy block; the radio antenna (13) and the sensor group (14) are fixed on a top support frame; the communication navigation component (3) is fixed on the control cabin component (4) through a bottom support frame of a support frame (15) of the communication navigation component;
the connecting fin (5) comprises: a connecting frame (29) and a buoyancy block; the connecting frame (29) comprises an upper connecting frame, a lower connecting frame and a vertically arranged metal plate positioned between the upper connecting frame and the lower connecting frame; the left side and the right side of the metal plate are symmetrically provided with buoyancy blocks, the buoyancy blocks are arranged in a stacked mode along the height direction of the metal plate, and a through hole for allowing the power supply watertight cable (1) to penetrate through is formed between the abutting surfaces of the buoyancy blocks on the left side and the right side; the connecting fin plate (5) is connected with the control cabin assembly (4) through an upper connecting frame and is connected with the power propulsion assembly (6) through a lower connecting frame.
2. The small semi-submersible vehicle as recited in claim 1 further comprising one or more expansion ports on the top support frame for connection to sensors.
3. The small semi-submersible vehicle as recited in claim 1, characterized in that the buoyancy blocks on the left and right sides of the metal plate in the support frame (15) and the connecting fin (5) are butted to form a streamline shape.
4. The small semi-submersible vehicle according to claim 1, characterized in that the control cabin assembly (4) comprises a cabin and a radio transmitter (26), a transformer (27) and a navigation control unit arranged inside the cabin;
the radio transmitter (26) is communicated with the radio antenna (13) and is used for receiving the instruction of the navigation control unit, amplifying the instruction and transmitting the amplified instruction through the radio antenna (13); the transformer (27) is used for converting the power supply voltage in the power propulsion assembly (6) into the voltage required by the electronic equipment in the control cabin assembly (4); the navigation control unit is used for planning a path and then sending a navigation control instruction to the power propulsion assembly to enable the navigation body to run according to the planned path;
the cabin body comprises: the device comprises an upper bearing frame (24), a front cabin (22) which is in sealing butt joint with the front side of the upper bearing frame (24), and a rear cabin (25) which is in sealing butt joint with the rear side of the upper bearing frame (24); the radio transmitter (26) and transformer (27) are mounted in a front compartment (22); the navigation control unit is arranged in the rear cabin (25); the outer part of the upper bearing frame (24) is wrapped with a buoyancy block.
5. A small semi-submersible vehicle as claimed in claim 1, characterized in that said power propulsion assembly (6) is of water-permeable construction comprising: the wind power generation device comprises a front air guide sleeve (30), a side air guide sleeve (31), a battery pack (32), a lower bearing frame (33), a rear air guide sleeve (35), a propeller (37) and a load mounting frame (38);
wherein the battery pack (32) is used for supplying power to the propeller (37) and is connected with the control cabin assembly (4) through a power supply watertight cable (1); the battery pack (32) is arranged in a sealed battery box, and the battery box is fixed in the lower bearing frame (33);
the front air deflector (30) is arranged at the front end of the load mounting frame (38), and the load mounting frame (38) is arranged on the lower bearing frame (33); the two sets of side air guide sleeves (31) are respectively fixed at the left side and the right side of the lower bearing frame (33), and the rear air guide sleeve (35) is fixed at the rear end of the lower bearing frame (33); the two sets of thrusters (37) are arranged in bilateral symmetry and are fixed on the lower bearing frame (33).
6. The small semi-submersible vehicle according to claim 5, characterized in that the lateral air guide (31) is connected to the lower bearing frame (33) at the top by a hinge (48) and is connected to the lower bearing frame (33) at the bottom by a buckle (43), so that the lateral air guide (31) can be opened to replace the battery pack (32) installed inside the lower bearing frame (33).
7. The small semi-submersible vehicle according to claim 1, characterized in that the power propulsion assembly (6) is provided with a lifting ring (54) and a shackle connected to the lifting ring (54), cooperating with a shackle mounted on the control cabin assembly (4) for lifting the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352932.1A CN111114724B (en) | 2019-12-25 | 2019-12-25 | Small semi-submersible navigation body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352932.1A CN111114724B (en) | 2019-12-25 | 2019-12-25 | Small semi-submersible navigation body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111114724A CN111114724A (en) | 2020-05-08 |
| CN111114724B true CN111114724B (en) | 2021-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911352932.1A Active CN111114724B (en) | 2019-12-25 | 2019-12-25 | Small semi-submersible navigation body |
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| CN107010169A (en) * | 2017-05-14 | 2017-08-04 | 上海海洋大学 | A kind of semi-submersible type binary unmanned boat |
| CN109703705A (en) * | 2018-12-26 | 2019-05-03 | 哈尔滨工程大学 | A kind of unmanned platform of semi-submersible type |
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| JPS56160283A (en) * | 1980-05-15 | 1981-12-09 | Mitsubishi Heavy Ind Ltd | Catamaran with submerged body |
| CN2441733Y (en) * | 2000-06-22 | 2001-08-08 | 何正曼 | Adjustable small waterline boat |
| US6349665B1 (en) * | 2000-08-14 | 2002-02-26 | Mentor Subsea Technology Services, Inc. | Drone vessel for an ROV |
| RU2380274C1 (en) * | 2008-07-22 | 2010-01-27 | Юрий Алексеевич Берков | Underwater tanker |
| CN105905251A (en) * | 2016-06-03 | 2016-08-31 | 江苏科技大学 | Stealth single-hull small waterline area hydrofoil unmanned ship and sailing method |
| CN107010169A (en) * | 2017-05-14 | 2017-08-04 | 上海海洋大学 | A kind of semi-submersible type binary unmanned boat |
| CN109703705A (en) * | 2018-12-26 | 2019-05-03 | 哈尔滨工程大学 | A kind of unmanned platform of semi-submersible type |
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| CN111114724A (en) | 2020-05-08 |
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