CN115892407A - Primary-secondary cluster type underwater unmanned underwater vehicle - Google Patents
Primary-secondary cluster type underwater unmanned underwater vehicle Download PDFInfo
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- CN115892407A CN115892407A CN202211662063.4A CN202211662063A CN115892407A CN 115892407 A CN115892407 A CN 115892407A CN 202211662063 A CN202211662063 A CN 202211662063A CN 115892407 A CN115892407 A CN 115892407A
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Abstract
The invention belongs to the technical field of underwater unmanned underwater vehicles, and particularly relates to a primary-secondary cluster type underwater unmanned underwater vehicle. The underwater vehicle comprises at least one parent underwater vehicle and a plurality of daughter underwater vehicles, wherein the daughter underwater vehicles are positioned in the parent underwater vehicle; the daughter underwater vehicle is provided with a propeller for driving; the parent underwater vehicle comprises a control cabin, a recovery cabin and a guide cabin which are sequentially connected from front to back; the master-slave cluster type underwater unmanned underwater vehicle has the advantages of being compact and reasonable in structure, low in manufacturing and using cost, convenient to control and maintain, high in control efficiency and good in balance, and capable of exerting the advantages of being good in endurance capacity of the master submersible vehicle, high in maintenance stability, flexible in use and good in concealment of the sub submersible vehicle through the master-slave cluster type combination scheme.
Description
Technical Field
The invention belongs to the technical field of underwater unmanned underwater vehicles, and particularly relates to a primary-secondary cluster type underwater unmanned underwater vehicle.
Background
With the gradual development of the unmanned underwater vehicle technology, the unmanned underwater vehicle has been widely applied in the fields of military reconnaissance, geological exploration, hydrological observation and the like. However, most unmanned underwater vehicles have small size, low navigational speed, small maneuvering range in unit time and short detection and underwater acoustic communication distance, the single unmanned underwater vehicle has insufficient cruising power and limited search range and becomes a short board for limiting further development of the unmanned underwater vehicle, and a small number of unmanned underwater vehicles solve the problems in a mode of capacity expansion increment, energy storage improvement and the like.
Disclosure of Invention
The invention aims to provide a primary-secondary structure-based cluster type underwater unmanned underwater vehicle which is used for sailing a daughter underwater vehicle carried by a parent underwater vehicle to a target sea area, reducing the energy consumption for throwing the daughter underwater vehicle, increasing the effective task execution time of the daughter underwater vehicle, and improving the task operation distance and the overall cruising ability by using the parent underwater vehicle as a relay platform.
In order to achieve the purpose, the invention adopts the following technical scheme.
A son-mother cluster type underwater unmanned underwater vehicle comprises at least one mother body underwater vehicle and a plurality of son body underwater vehicles, wherein the son body underwater vehicles are positioned inside the mother body underwater vehicles;
the sub-underwater vehicle is in a cylinder shape, and a propeller for driving is arranged on the sub-underwater vehicle;
the parent underwater vehicle comprises a control cabin, a recovery cabin and a guide cabin which are sequentially connected from front to back;
the control cabin includes: the anti-collision device comprises a hemispherical anti-collision shell 10 positioned at the foremost end, a cylindrical waterproof shell 11 connected behind the anti-collision shell 10, a water sealing part 12 connected at the rear end of the waterproof shell 11 and a drive control assembly;
the anti-collision shell 10 and the waterproof shell 11 enclose a head water storage cavity 1a, and the anti-collision shell 10, the waterproof shell 11 and the water sealing piece 12 are in watertight connection and enclose an installation cavity 1b;
the driving control assembly comprises a power module 101, a servo motor 102, a wireless transceiver module 104, a steering engine 107, a swing arm 108 and a propeller 103, wherein the power module 101, the servo motor 102, the wireless transceiver module 104, the steering engine 107 and the swing arm are arranged in the installation cavity 1b;
a main shaft of the propeller 103 penetrates through the waterproof shell 11 and then is in transmission connection with a motor shaft of the servo motor 102; the swing arm 108 is connected to an output shaft of the steering engine 107 and can move in the front-back direction under the driving of the steering engine, a first strip-shaped hole is formed in the swing arm 108, and a sliding part 109 is arranged in the first strip-shaped hole; the bottom of the water storage cavity 1a is communicated with a bidirectional water pump through a pipeline and an electromagnetic valve, and an inlet and an outlet of the bidirectional water pump are communicated with the external space of the waterproof shell 11;
the water sealing piece 12 is provided with a connecting pore passage 12a and a first through hole 12b which are connected to the recovery cabin; an operating rod 110 is arranged in the first through hole 12b, and the front end of the operating rod 110 is connected with the sliding piece 109;
the recycling bin is internally provided with a containing cavity 2a and a middle water storage cavity 2b, the back end of the containing cavity 2a is opened, and the recycling bin is provided with a front water outlet 2d communicated to the front end of the containing cavity 2a; the middle water storage cavity 2b is communicated with the bidirectional water pump through a pipeline and an electromagnetic valve;
a guide channel 3a communicated with the opening at the rear end of the accommodating cavity 2a is arranged in the guide cabin, and rear water drainage holes 3c communicated to the front end and the rear end of the guide channel 3a respectively are formed in the guide cabin;
the device also comprises a flip 4, wherein the flip 4 is connected with the rear end of the operating rod 110 through a connecting rod structure;
the sliding member 109 moves back and forth during the swing of the swing arm 108 and drives the operating rod 110 to slide back and forth, and the operating rod 110 moves back and forth to open or close the flip 4 through the link structure.
In a further improvement or preferred embodiment of the primary-secondary cluster type underwater unmanned vehicle, the waterproof shell 11 is a cylindrical shell structure, the water sealing member 12 is a cylindrical structure with the outer diameter consistent with that of the waterproof shell 11, the front end and the rear end of the water sealing member 12 are respectively provided with a cylindrical connecting part, and the cylindrical connecting part at the front end of the water sealing member 12 is inserted into an opening at the rear end of the waterproof shell 11;
the recovery cabin comprises a front connecting shell 20 with a cylindrical shell structure and a main cabin body;
the outer diameter of the front connecting shell 20 is consistent with that of the waterproof shell 11, and the cylindrical connecting part at the rear end of the water sealing piece 12 is inserted into the opening at the front end of the front connecting shell 20;
the rear end face of the water sealing piece 12 is provided with a positioning connecting groove 12c;
the main cabin 21 is formed by connecting a front section of cylinder and a rear section of cylinder which are coaxially arranged, the inner diameters of the front section of cylinder and the rear section of cylinder are consistent, and the outer diameter of the rear section of cylinder is consistent with the outer diameter of the waterproof shell 11; the front section of the cylinder body is inserted into the positioning connecting groove 12c, the rear section of the cylinder body is coaxially connected with the front connecting shell 20, and the inner walls of the front section of the cylinder body and the rear section of the cylinder body and the positioning connecting groove 12c enclose an accommodating cavity 2a;
a front water drainage hole 2d is dug out of the front connecting shell 20 and the front section cylinder body, and a front vortex elimination cavity 20a is formed between the inner wall of the front connecting shell 20 and the outer wall of the front section cylinder body; the middle water storage cavity 2b is dug out from the cylinder wall of the rear section cylinder.
In a further improvement or preferred embodiment of the primary-secondary cluster type underwater unmanned underwater vehicle, the guide cabin comprises a rear connecting shell 30 and an inner connecting shell 31 which are of cylindrical structures and are coaxially arranged;
the outer diameter of the rear connecting shell 30 is consistent with that of the waterproof shell 11, and the inner diameter of the inner connecting shell 31 is consistent with that of the main cabin 21; the guide passage 3a is surrounded by the inner wall of the inner connecting shell 31;
the rear water drainage hole 3c is dug out from the rear connecting shell 30 and the inner connecting shell 31, and a rear vortex elimination cavity 30a is defined between the inner wall of the rear connecting shell 30 and the outer wall of the inner connecting shell 31;
in a further improvement or preferred embodiment of the above-mentioned primary and secondary cluster type underwater unmanned vehicle, a trumpet-shaped guiding shell 32 is arranged at the rear end of the rear connecting shell 30, the large opening of the guiding shell 32 faces backwards and the edge is connected with the rear edge of the rear connecting shell 30, and the small opening is advanced and connected with the rear edge of the inner connecting shell 31.
In a further improvement or preferred embodiment of the above-mentioned primary and secondary cluster type underwater unmanned vehicle, the flip cover 4 is a part of the trumpet-shaped guiding shell 32; the inner coupling housing 31 is provided with a protruding support portion 31a on the outer wall thereof, and the support portion 1a is provided with a through hole for supporting the operating lever 110.
In a further improvement or preferred embodiment of the primary-secondary cluster type underwater unmanned vehicle, an annular counterweight body 33 which can be sleeved on the inner connecting shell 31 is arranged in the vortex-eliminating cavity 30a;
the left side and the right side of the anti-collision shell 10 and the waterproof shell 11 are symmetrically provided with a plurality of counter bore-shaped balance cavities 9a; a detachable weight member 9c is provided in the balance cavity 9 a.
In a further improvement or preferred embodiment of the above-mentioned primary-secondary cluster type underwater unmanned vehicle, a positioning column 9b is arranged at the bottom of the balance cavity 9a, a cover plate 9d is arranged at an opening of the balance cavity 9a, the outer surface of the cover plate 9d is smoothly connected with the outer surface of an adjacent anti-collision shell 10 or a waterproof shell 11, and the counterweight 9c is composed of a plurality of annular positioning blocks which can be sleeved on the positioning column 9 b.
In a further improvement or preferred embodiment of the above-mentioned primary and secondary cluster type underwater unmanned vehicle, the connecting rod structure comprises a C-shaped connecting rod 50, an intermediate rod 51 and a swing rod 52; a positioning table is arranged on the outer wall of the rear end of the inner connecting shell 31; the rear end of the C-shaped connecting rod 50 is tightly attached to the front side of the flip cover 4, the front end is hinged to the positioning table through a rotating shaft, the middle part of the swing rod 52 is hinged to the positioning table through a rotating shaft, and the two ends are respectively hinged to the rear end of the operating rod 110 and the middle part of the C-shaped connecting rod 50.
In a further improvement or preferred embodiment of the primary-secondary cluster type underwater unmanned underwater vehicle, the parent underwater vehicle is provided with steering water pumps with water inlets and water outlets respectively arranged on the left side and the right side of the parent underwater vehicle.
In a further improvement or preferred embodiment of the primary and secondary cluster type underwater unmanned underwater vehicle, the primary underwater vehicle and the individual underwater vehicle are respectively provided with an HCM365 full-attitude three-dimensional electronic compass for providing navigation attitude feedback and a wireless communication terminal for realizing wireless communication.
The beneficial effects are that:
the master-slave cluster type underwater unmanned underwater vehicle is compact and reasonable in structure, low in manufacturing and using cost, convenient to control and maintain, high in control efficiency and good in balance, can exert the advantages of being good in endurance capacity of a master submersible vehicle and high in maintenance stability through a master-slave cluster type combination scheme, has the advantages of being flexible and good in concealment performance when being used by a slave submersible vehicle, has good application prospects in the aspects of remote delivery, multi-task continuous operation, remote tracking, close-range detection and the like, is simple in structure, is convenient to control, and is beneficial to improvement of operation efficiency.
Drawings
FIG. 1 is a front view of a cluster-master underwater unmanned vehicle;
FIG. 2 is a front view angle sectional view of a cluster-type underwater unmanned underwater vehicle;
FIG. 3 is a top view cross-sectional view of the parent-child cluster type underwater unmanned underwater vehicle;
FIG. 4 is an oblique view cross-sectional view of the parent-child cluster type underwater unmanned underwater vehicle;
fig. 5 is an inner layer structure diagram of the primary-secondary cluster type underwater unmanned underwater vehicle.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The primary and secondary cluster type underwater unmanned underwater vehicle can release a plurality of sub-body underwater vehicles by separating the primary underwater vehicle, perform tasks such as military reconnaissance and geological exploration, remarkably increase the operation radius of the underwater vehicle and improve the working efficiency.
As shown in fig. 1 to 5, the primary-secondary cluster type underwater unmanned underwater vehicle comprises at least one parent underwater vehicle and a plurality of daughter underwater vehicles, wherein the daughter underwater vehicles are positioned in the parent underwater vehicles;
the sub-underwater vehicle is in a cylinder shape, and a propeller for driving is arranged on the sub-underwater vehicle;
the parent underwater vehicle comprises a control cabin, a recovery cabin and a guide cabin which are sequentially connected from front to back;
the control cabin includes: the anti-collision device comprises a hemispherical anti-collision shell 10 positioned at the foremost end, a cylindrical waterproof shell 11 connected behind the anti-collision shell 10, a water sealing piece 12 connected at the rear end of the waterproof shell 11 and a drive control assembly; the anti-collision shell 10 and the waterproof shell 11 enclose a head water storage cavity 1a, and the anti-collision shell 10, the waterproof shell 11 and the water sealing piece 12 are connected in a watertight manner and enclose an installation cavity 1b;
the hemisphere anticollision shell 10 constitutes the drop shape structure, is favorable to reducing the water resistance and regards as protective structure simultaneously, and the retaining chamber sets up in foremost, controls the parent underwater vehicle front end dead weight through the intracavity water injection drainage of retaining, and then the angle of pitch of quick adjustment control parent underwater vehicle.
In the actual use process, according to the difference of the operation task types or the endurance requirements or the difference of the number of carried sub-body submergence vehicles, the parent submergence vehicle and the equipment or the structure carried in the sub-body submergence vehicle need to be flexibly combined, and in order to ensure that the self gravity balance and the distribution of the submergence vehicle can be quickly adjusted after the configuration is changed, a plurality of balance cavities 9a in the shape of counter bores are symmetrically arranged on the left side and the right side of the anti-collision shell 10 and the waterproof shell 11; be provided with detachable counterweight 9c in the balanced chamber 9a, gravity distribution of not equidirectional around and about the detachable counterweight can be more nimble change.
Particularly, in order to ensure that the counterweight remains stable during the movement of the underwater vehicle, in this embodiment, a positioning column 9b is disposed at the bottom of the balance cavity 9a, a cover plate 9d is disposed at an opening of the balance cavity 9a, the outer surface of the cover plate 9d is smoothly connected with the outer surface of an adjacent anti-collision shell 10 or a waterproof shell 11, and the counterweight 9c is composed of a plurality of annular positioning blocks which can be sleeved on the positioning column 9 b.
The driving control assembly comprises a power supply module 101, a servo motor 102, a wireless transceiver module 104, a steering engine 107, a swing arm 108 and a propeller 103, wherein the power supply module 101, the servo motor 102, the wireless transceiver module 104, the steering engine 107 and the swing arm are arranged in the installation cavity 1b; the power module generally refers to a direct-current power storage module, wherein control systems and modules of unmanned control equipment such as an unmanned underwater vehicle are mature, the power module comprises a mother underwater vehicle which is also provided with common equipment or structures such as circuits and fixed structures for supporting the modules or the equipment, and the control system structure of the power module is consistent with that of a traditional unmanned underwater vehicle and the like, and the power module is well known in the field, so that the power module is not described in detail in the application.
The submersible vehicle mainly comprises a main body structure of the submersible vehicle, wherein a main shaft of a propeller 103 penetrates through a waterproof shell 11 and then is in transmission connection with a motor shaft of a servo motor 102; depending on the type of the servo motor, it may be necessary to provide a reduction gear or a right-angle gear transmission structure or the like for improving the drive transmission ratio or the transmission direction.
The swing arm 108 is connected to an output shaft of the steering engine 107 and can move in the front-back direction under the driving of the steering engine, a first strip-shaped hole 108a is formed in the swing arm 108, and a sliding piece 109 is arranged in the first strip-shaped hole; the bottom of the water storage cavity 1a is communicated with a bidirectional water pump through a pipeline and an electromagnetic valve, and one inlet and outlet of the bidirectional water pump are communicated to the external space of the waterproof shell 11;
the water sealing piece 12 is provided with a connecting pore passage 12a and a first through hole 12b which are connected to the recovery cabin; an operating rod 110 is arranged in the first through hole 12b, and the front end of the operating rod 110 is connected with the sliding piece 109;
the swing arm 108 is used for controlling the operation rod 110 to move, the recovery cabin is opened and closed by using the operation rod 110, and the daughter underwater vehicle in a shutdown state is prevented from being accidentally separated from the parent body in the motion process of the parent body underwater vehicle.
The wireless transceiver module is mainly used for wireless transmission of data instructions between the underwater vehicles and between the underwater vehicle and the console, and for convenience of use, a structure or a hole groove for fixing or installing accessories such as a wireless transmission antenna and the like may be further provided on the surface of the underwater vehicle, as shown in fig. 5, in this embodiment, a hole for installing an antenna 8a is provided at the top of the waterproof housing 11, as a basic matter, it is easy to know that necessary sealing treatment should be performed on the holes including gaps at various places of the housing in order to ensure the water-tight sealing performance inside the waterproof housing 11, and the sealing treatment includes, but is not limited to, using a sealing ring or a sealant and the like.
Particularly, in order to make the underwater vehicle lighter and more convenient to use, in this embodiment, the waterproof housing 11 is a cylindrical housing structure, the water sealing member 12 is a cylindrical structure with an outer diameter consistent with that of the waterproof housing 11, the front end and the rear end of the water sealing member 12 are respectively provided with a cylindrical connecting portion, and the cylindrical connecting portion at the front end of the water sealing member 12 is inserted into an opening at the rear end of the waterproof housing 11; the adoption of the cylindrical shell structure and the front side hemispherical shell to form a water drop-shaped streamline structure is favorable for reducing the front side reflection area and water resistance of the underwater vehicle, and the flexibility is improved.
The recovery cabin is mainly used for containing and protecting the daughter underwater vehicle, the daughter underwater vehicle can smoothly enter the parent body and safely stay in the process of putting the parent body underwater vehicle, a containing cavity 2a and a middle water storage cavity 2b are arranged in the recovery cabin, the rear end of the containing cavity 2a is opened, and a front water drainage hole 2d communicated to the front end of the containing cavity 2a is formed in the recovery cabin; the middle water storage cavity 2b is communicated with the bidirectional water pump through a pipeline and an electromagnetic valve; a front water drainage hole 2d is dug out from the front connecting shell 20 and the front section cylinder, and a front vortex elimination cavity 20a is formed between the inner wall of the front connecting shell 20 and the outer wall of the front section cylinder;
in this embodiment, the recovery compartment comprises a front connecting shell 20 and a main compartment body 21 of a cylindrical shell structure;
the outer diameter of the front connecting shell 20 is consistent with that of the waterproof shell 11, and the cylindrical connecting part at the rear end of the water sealing piece 12 is inserted into the opening at the front end of the front connecting shell 20;
the rear end face of the water sealing piece 12 is provided with a positioning connecting groove 12c;
the main cabin 21 is formed by connecting a front section of cylinder and a rear section of cylinder which are coaxially arranged, the inner diameters of the front section of cylinder and the rear section of cylinder are consistent, and the outer diameter of the rear section of cylinder is consistent with the outer diameter of the waterproof shell 11; the front section of the cylinder body is inserted into the positioning connecting groove 12c, the rear section of the cylinder body is coaxially connected with the front connecting shell 20, and the inner walls of the front section of the cylinder body and the rear section of the cylinder body and the positioning connecting groove 12c enclose an accommodating cavity 2a; the middle water storage cavity 2b is dug out from the cylinder wall of the rear section cylinder.
Because the daughter underwater vehicle can cause the distribution change of the dead weight of the parent underwater vehicle in the process of entering and exiting the parent underwater vehicle, the dead weight of the parent underwater vehicle can be better controlled by using the water pump through arranging the main cabin body 21 and the middle water storage cavity 2b inside the main cabin body, and the operation can be carried out more flexibly and freely.
A guide channel 3a communicated with the opening at the rear end of the accommodating cavity 2a is arranged in the guide cabin, and rear water drainage holes 3c communicated to the front end and the rear end of the guide channel 3a respectively are formed in the guide cabin;
in this embodiment, the guide compartment includes a rear connection shell 30 and an inner connection shell 31 which are cylindrical and coaxially disposed; the outer diameter of the rear connecting shell 30 is consistent with the outer diameter of the waterproof shell 11, and the inner diameter of the inner connecting shell 31 is consistent with the inner diameter of the main cabin 21; the guide passage 3a is surrounded by the inner wall of the inner connecting shell 31; the rear drain hole 3c is dug out from the rear connecting shell 30 and the inner connecting shell 31, and a rear vortex elimination cavity 30a is defined between the inner wall of the rear connecting shell 30 and the outer wall of the inner connecting shell 31; in order to improve the control performance, an annular counterweight body 33 which can be sleeved on the inner connecting shell 31 is arranged in the vortex elimination cavity 30a;
in order to facilitate the alignment and positioning of the sub-submersible vehicle and the recovery, a horn-shaped guide shell 32 is arranged at the rear end of the rear connecting shell 30, the large opening of the guide shell 32 faces backwards, the edge of the guide shell is connected with the rear edge of the rear connecting shell 30, and the small opening of the guide shell is advanced and connected with the rear edge of the inner connecting shell 31.
The daughter underwater vehicle ware enters the guide passageway from the rear side and holds the intracavity and stops in the use, it is semi-enclosed structure to hold the chamber in this application and guide passageway to reduce the displacement, improve control performance, there is liquid in the intracavity in the underwater vehicle ware motion process, for avoiding daughter underwater vehicle ware to retrieve or release in-process liquid production negative pressure and vortex, through aforementioned casing separation structure and sluicing pore, can guarantee that the inside and outside rivers of mother underwater vehicle ware channel are unobstructed, maintain inside and outside water pressure, keep balance.
The device also comprises a flip 4, wherein the flip 4 is connected with the rear end of the operating rod 110 through a connecting rod structure;
the sliding member 109 moves back and forth during the swing of the swing arm 108 and drives the operating rod 110 to slide back and forth, and the operating rod 110 moves back and forth to open or close the flip 4 through the link structure.
In the present embodiment, the lid 4 is a part of the horn-shaped guide housing 32; the inner coupling housing 31 is provided with a protruding support portion 31a on the outer wall thereof, and the support portion 1a is provided with a through hole for supporting the operating lever 110.
As a preferable scheme, in the present embodiment, the link structure includes a C-shaped link 50, an intermediate lever 51, and a swing lever 52; a positioning table is arranged on the outer wall of the rear end of the inner connecting shell 31; the rear end of the C-shaped connecting rod 50 is tightly attached to the front side of the flip cover 4, the front end is hinged to the positioning table through a rotating shaft, the middle part of the swing rod 52 is hinged to the positioning table through a rotating shaft, and the two ends are respectively hinged to the rear end of the operating rod 110 and the middle part of the C-shaped connecting rod 50.
As a preferable angle control device of the underwater vehicle, a steering water pump with water inlets and water outlets respectively arranged on the left side and the right side of the parent underwater vehicle is arranged on the parent underwater vehicle.
As a supplement to the functional requirements of the underwater vehicle, the parent underwater vehicle and the individual underwater vehicle can be respectively provided with an HCM365 full-attitude three-dimensional electronic compass for providing navigation attitude feedback and a wireless communication terminal for realizing wireless communication when necessary.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A son-mother cluster type underwater unmanned aircraft comprises at least one mother submersible vehicle and a plurality of son submersible vehicles, and is characterized in that the son submersible vehicles are positioned inside the mother submersible vehicles;
the sub-underwater vehicle is in a cylinder shape, and a propeller for driving is arranged on the sub-underwater vehicle;
the parent underwater vehicle comprises a control cabin, a recovery cabin and a guide cabin which are sequentially connected from front to back;
the control cabin includes: the anti-collision device comprises a hemispherical anti-collision shell (10) positioned at the foremost end, a cylindrical waterproof shell (11) connected behind the anti-collision shell (10), a water sealing piece (12) connected at the rear end of the waterproof shell (11) and a drive control assembly;
the anti-collision shell (10) and the waterproof shell (11) enclose a head water storage cavity (1 a), and the anti-collision shell (10), the waterproof shell (11) and the water sealing piece (12) are in watertight connection and enclose an installation cavity (1 b);
the driving control assembly comprises a power supply module (101) arranged in the mounting cavity (1 b), a servo motor (102), a wireless transceiver module (104), a steering engine (107), a swing arm (108) and a propeller (103) arranged on the lower side of the mounting cavity (1 a);
a main shaft of the propeller (103) penetrates through the waterproof shell (11) and then is in transmission connection with a motor shaft of the servo motor (102); the swing arm (108) is connected to an output shaft of the steering engine (107) and can move in the front-back direction under the driving of the steering engine, a first strip-shaped hole (108 a) is formed in the swing arm (108), and a sliding part (109) is arranged in the first strip-shaped hole; the bottom of the water storage cavity (1 a) is communicated with a bidirectional water pump through a pipeline and an electromagnetic valve, and an inlet and an outlet of the bidirectional water pump are communicated with the external space of the waterproof shell (11);
the water sealing piece (12) is provided with a connecting pore passage (12 a) and a first through hole (12 b) which are connected to the recovery cabin; an operating rod (110) is arranged in the first through hole (12 b), and the front end of the operating rod (110) is connected with the sliding piece (109);
a containing cavity (2 a) and a middle water storage cavity (2 b) are arranged in the recovery cabin, the rear end of the containing cavity (2 a) is opened, and a front water drainage hole (2 d) communicated to the front end of the containing cavity (2 a) is formed in the recovery cabin; the middle water storage cavity (2 b) is communicated with the bidirectional water pump through a pipeline and an electromagnetic valve;
a guide channel (3 a) communicated with the opening at the rear end of the accommodating cavity (2 a) is arranged in the guide cabin, and rear water drainage holes (3 c) respectively communicated to the front end and the rear end of the guide channel (3 a) are formed in the guide cabin;
the turnover mechanism further comprises a turnover cover (4), wherein the turnover cover (4) is connected with the rear end of the operating rod (110) through a connecting rod structure;
the sliding piece (109) moves back and forth along with the swing arm (108) in the swing process and drives the operating rod (110) to slide back and forth, and the turnover cover (4) is opened or closed through the connecting rod structure when the operating rod (110) moves back and forth.
2. The primary-secondary cluster type underwater unmanned vehicle as claimed in claim 1, wherein the waterproof housing (11) is a cylindrical housing structure, the water sealing member (12) is a cylindrical structure with the outer diameter consistent with that of the waterproof housing (11), the front end and the rear end of the water sealing member (12) are respectively provided with a cylindrical connecting part, and the cylindrical connecting part at the front end of the water sealing member (12) is inserted into an opening at the rear end of the waterproof housing (11);
the recovery cabin comprises a front connecting shell (20) of a cylindrical shell structure and a main cabin body (21);
the outer diameter of the front connecting shell (20) is consistent with that of the waterproof shell (11), and the cylindrical connecting part at the rear end of the water sealing piece (12) is inserted into the opening at the front end of the front connecting shell (20);
the rear end face of the water sealing piece (12) is provided with a positioning connecting groove (12 c);
the main cabin body (21) is formed by connecting a front section of cylinder body and a rear section of cylinder body which are coaxially arranged, the inner diameters of the front section of cylinder body and the rear section of cylinder body are consistent, and the outer diameter of the rear section of cylinder body is consistent with the outer diameter of the waterproof shell (11); the front section of the cylinder body is inserted into the positioning connecting groove (12 c), the rear section of the cylinder body is coaxially connected with the front connecting shell (20), and the inner walls of the front section of the cylinder body and the rear section of the cylinder body and the positioning connecting groove (12 c) enclose an accommodating cavity (2 a);
a front water drainage hole (2 d) is dug out from the front connecting shell (20) and the front section cylinder body, and a front vortex elimination cavity (20 a) is formed between the inner wall of the front connecting shell (20) and the outer wall of the front section cylinder body; the middle water storage cavity (2 b) is dug out from the cylinder wall of the rear section cylinder.
3. The parent-child cluster underwater unmanned vehicle according to claim 2, wherein the pod comprises a rear connection shell (30) and an inner connection shell (31) of cylindrical structure and coaxially arranged;
the outer diameter of the rear connecting shell (30) is consistent with that of the waterproof shell (11), and the inner diameter of the inner connecting shell (31) is consistent with that of the main cabin body (21); the guide passage (3 a) is enclosed by the inner wall of the inner connecting shell (31);
the rear drain hole (3 c) is dug out from the rear connecting shell (30) and the inner connecting shell (31), and a rear vortex-eliminating cavity (30 a) is defined between the inner wall of the rear connecting shell (30) and the outer wall of the inner connecting shell (31).
4. The parent-child cluster type underwater unmanned vehicle according to claim 3, wherein a trumpet-shaped guide shell (32) is provided at the rear end of the rear connecting shell (30), the guide shell (32) has a large opening facing backward and an edge connected with the rear edge of the rear connecting shell (30), and a small opening leading and connected with the rear edge of the inner connecting shell (31).
5. A cluster underwater unmanned vehicle according to claim 3, characterised in that the flap (4) is part of a trumpet-shaped guiding shell (32); the outer wall of the inner connecting shell (31) is provided with a protruding supporting part (31 a), and the supporting part (1 a) is provided with a through hole for supporting the operating rod (110).
6. The parent-child cluster type underwater unmanned vehicle according to claim 3, wherein an annular counterweight (33) capable of being sleeved on the inner connecting shell (31) is arranged in the vortex elimination chamber (30 a);
the left side and the right side of the anti-collision shell (10) and the waterproof shell (11) are symmetrically provided with a plurality of counter bore-shaped balance cavities (9 a); a detachable weight piece (9 c) is arranged in the balance cavity (9 a).
7. The child-mother cluster type underwater unmanned vehicle as claimed in claim 6, wherein a positioning column (9 b) is disposed at the bottom of the balance cavity (9 a), a cover plate (9 d) is disposed at the opening of the balance cavity (9 a), the outer surface of the cover plate (9 d) is smoothly connected with the outer surface of the adjacent anti-collision shell (10) or the outer surface of the waterproof shell (11), and the counterweight (9 c) is composed of a plurality of annular positioning blocks which can be sleeved on the positioning column (9 b).
8. The parent-child cluster underwater unmanned vehicle according to claim 3, wherein the link structure comprises a C-shaped link (50), an intermediate lever (51) and a pendulum lever (52); a positioning table is arranged on the outer wall of the rear end of the inner connecting shell (31); the rear end of the C-shaped connecting rod (50) is tightly attached to the front side of the turnover cover (4), the front end of the C-shaped connecting rod is hinged to the positioning table through a rotating shaft, the middle of the swing rod (52) is hinged to the positioning table through a rotating shaft, and the two ends of the swing rod are hinged to the rear end of the operating rod (110) and the middle of the C-shaped connecting rod (50) respectively.
9. The master-slave cluster type underwater unmanned vehicle as claimed in claim 1, wherein the parent underwater vehicle is provided with water inlets and water outlets, and steering water pumps are respectively arranged on the left and right sides of the parent underwater vehicle.
10. The primary-secondary clustered underwater unmanned vehicle as claimed in claim 1, wherein the primary underwater vehicle and the secondary underwater vehicle are respectively provided with an HCM365 full-attitude three-dimensional electronic compass for providing navigation attitude feedback and a wireless communication terminal for realizing wireless communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211662063.4A CN115892407B (en) | 2022-12-23 | Primary and secondary cluster type underwater unmanned submarine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211662063.4A CN115892407B (en) | 2022-12-23 | Primary and secondary cluster type underwater unmanned submarine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115892407A true CN115892407A (en) | 2023-04-04 |
| CN115892407B CN115892407B (en) | 2024-08-02 |
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