A three-function antenna for deep-sea underwater robots

Abstract

The present invention relates to an antenna for an underwater robot, specifically a three-function antenna for a deep-sea underwater robot, which is composed of a transfer fixing component, a mast component and an antenna component. The three parts can be disassembled for easy transportation; the transfer fixing component provides a fixing interface for the entire antenna, and is fixed on the underwater robot by a through-wall design; at the same time, epoxy resin is poured inside to greatly improve its compressive performance, and also plays a fixing role for communication cables; the mast component plays a role in connecting the transfer fixing component and the antenna component, and increasing the height of the antenna component from the water surface; the antennas with three functions are coaxial and connected end to end, with the GPS antenna at the top, the iridium antenna in the middle, and the radio antenna at the bottom. The present invention has a simple and compact structure, low cost, and small antenna signal attenuation. It is particularly suitable for installation on underwater robots such as deep-sea gliders and deep-sea AUVs, and provides short-range radio communication, long-range satellite communication, and surface positioning functions for underwater robots.

Description

Technical Field

[0001] The invention relates to an antenna for an underwater robot, in particular to a three-function antenna for a deep-water underwater robot, namely a three-function combined antenna of radio communication, iridium satellite communication and GPS positioning. Background Art

[0002] Underwater robots, also known as submersibles, are extreme operation robots that work underwater. The underwater environment of the ocean has extreme characteristics such as high pressure, low temperature, darkness, and corrosiveness, and humans cannot reach it directly; after years of development, underwater robots have become an important tool for observing, exploring and developing the ocean. Underwater robots mainly include: cable remote control underwater robots (ROVs), cable-free underwater autonomous robots (AUVs), manned submersibles (HOVs), underwater gliders, fiber optic micro-cable underwater robots (ARVs), surface unmanned vehicles (USVs), etc. The communication and positioning of underwater robots are crucial for operations; according to the application background or the mode of operation, they are divided into surface communication and positioning, and underwater communication and positioning. Surface communication generally includes radio communication, wired communication, satellite communication, etc. Surface positioning mainly includes satellite positioning systems such as GPS, GLONASS, and Beidou. Underwater communication mainly includes acoustic communication, optical communication, cable communication, etc. Underwater positioning mainly includes acoustic positioning, generally including long baseline positioning, ultra-short baseline positioning, etc. Antennas are signal receivers and transmitters for communication and positioning, and the quality of their design directly affects the efficiency and success of communication and positioning.

[0003] At present, various types of antennas used on land in China are complete and mature in application; however, due to the special requirements of high pressure, low temperature, strong corrosion, etc. underwater, and the late start of my country's underwater robot research and development and commercialization, and the application of underwater robots has not yet been fully promoted and launched, most of the underwater dedicated antennas are still imported and expensive. Summary of the invention

[0004] In order to meet the requirements for antennas for underwater robots, the purpose of the present invention is to provide a three-function antenna for a deep-sea robot, which is used to better achieve surface communication and positioning of the deep-sea robot.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The present invention comprises a through-cabin joint, a transfer elbow, a mast seat, an antenna mast, a mast head, an iridium antenna cover, a radio fixing cover, an antenna connection plug, a GPS antenna cover, a coaxial signal cable, a radio antenna core, an iridium antenna core, a GPS antenna core and an SMA coaxial cable adapter, wherein the through-cabin joint, the transfer elbow, the mast seat, the antenna mast, the mast head, the iridium antenna cover, the antenna connection plug and the GPS antenna cover are sealed and connected in sequence, the GPS antenna core is inserted on the antenna connection plug and is covered by the GPS antenna cover, the radio fixing cover and the iridium antenna core are respectively installed inside the iridium antenna cover, the radio fixing cover is equipped with a radio antenna core, the radio antenna core, the iridium antenna Coaxial signal cables are welded to the wire core and the GPS antenna core respectively. After passing through the Iridium antenna cover, each coaxial signal cable passes through the mast head and the antenna mast in sequence, and then enters through the mast seat. The internal space formed by the mast seat and the adapter elbow is equipped with SMA coaxial cable adapters, the same number as the coaxial signal cables and corresponding to each other, and each coaxial signal cable passed through the mast seat is connected to one end of the corresponding SMA coaxial cable adapter respectively, and the other end of each SMA coaxial cable adapter is welded with a coaxial signal cable respectively. The coaxial signal cables welded to the other end of each SMA coaxial cable adapter pass through the adapter elbow and the cabin joint, and are welded with antenna connectors at the ends respectively.

[0007] Wherein: an adapter fixing plate is provided between the adapter elbow and the mast seat, each of the SMA coaxial cable adapters is installed on the adapter fixing plate, and the internal cavity formed by the cabin penetration joint, the adapter elbow and the adapter fixing plate is poured with epoxy resin.

[0008] The SMA coaxial cable adapter includes an SMA coaxial cable adapter seat and an SMA coaxial cable adapter. Each of the SMA coaxial cable adapter seats is installed in the internal space formed by the mast seat and the adapter elbow. The coaxial signal cables welded at one end of each of the SMA coaxial cable adapter seats are passed through the adapter elbow and the cabin penetration joint. The other end of each of the SMA coaxial cable adapter seats is connected to an SMA coaxial cable adapter. Each of the SMA coaxial cable adapters is respectively welded to the coaxial signal cables welded on the radio antenna core, the Iridium antenna core and the GPS antenna core.

[0009] The coaxial signal cable welded on the GPS antenna core passes through the Iridium antenna core and then passes through the radio fixing cover. The coaxial signal cable welded on the Iridium antenna core passes through the radio fixing cover. The coaxial signal cables welded on the radio antenna core, Iridium antenna core and GPS antenna core all pass through the mast head, antenna mast and mast base.

[0010] The GPS antenna core is embedded in one end of the antenna connection plug, and the other end of the antenna connection plug is sleeved with an iridium antenna insulation sleeve, and the iridium antenna core is in contact with the iridium antenna insulation sleeve.

[0011] The radio antenna core, the Iridium antenna core and the GPS antenna core are coaxially arranged in series.

[0012] Double sealing is achieved at each sealing point of the three-function antenna through a radial sealing ring and an axial sealing ring, and each pressure-resistant part of the three-function antenna is a cylindrical body as a whole.

[0013] The through-cabin joint and the adapter elbow, the adapter elbow and the mast seat, the mast head and the Iridium antenna cover, the Iridium antenna cover and the antenna connection plug, and the antenna connection plug and the GPS antenna cover are all detachably connected, and the antenna mast and the mast seat, as well as the antenna mast and the mast head are all welded.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The present invention packages three antennas, radio, iridium and GPS, into one, which can simultaneously meet the requirements of short-range large data volume communication, long-range satellite communication and surface positioning of underwater robots, and has strong practicality.

[0016] 2. The present invention is divided into three parts: a switching and fixing component, a mast component, and an antenna component. Each part can be independently installed, disassembled, maintained, and replaced, thus achieving a good modular design.

[0017] 3. The mast design in the middle of the present invention not only raises the height of the antenna assembly out of the water, but also avoids the influence of waves on the signal; the three coaxial signal cables directly enter the underwater robot cabin without a watertight coaxial adapter, which reduces signal attenuation.

[0018] 4. The present invention has low cost, reliable operation, simple and compact structure, small size, light weight, strong water pressure resistance, and is easy to be installed on an underwater robot.

[0019] 5. The present invention adopts an adapter elbow design, which is suitable for installation on the spherical plug or conical plug of the underwater robot, and can keep the antenna at a fixed angle or parallel to the axis of the underwater robot. The adapter elbow and the mast seat can be disassembled, and the three sets of SMA coaxial cable adapter seats and the SMA coaxial cable adapter can be disassembled, which means that the underwater robot can remove the combined antenna without dismantling the cabin, which is convenient for the packaging and transportation of the underwater robot.

[0020] 6. The design of the present invention has good pressure resistance and sealing performance, and the designed pressure bearing capacity reaches 80MPa. All sealing points adopt a double sealing structure design, which improves the reliability of the sealing.

[0021] 7. The present invention fixes the through-cabin joint, the adapter elbow, the adapter fixing plate and the three coaxial signal cables inside by epoxy resin, thereby avoiding the pulling of the cables and affecting the service life and signal quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a cross-sectional view of the internal structure of the present invention;

[0024] Among them: 1 is a cabin penetration joint, 2 is an adapter elbow, 3 is an adapter fixing plate, 4 is a mast seat, 5 is an antenna mast, 6 is a mast head, 7 is an Iridium antenna cover, 8 is a radio fixing cover, 9 is an Iridium antenna insulating sleeve, 10 is an antenna connection screw plug, 11 is a GPS antenna cover, 12 is an antenna connector, 13 is epoxy resin, 14 is an SMA coaxial cable adapter, 15 is a hexagon socket head screw, 16 is an SMA coaxial cable adapter, 17 is a coaxial signal cable, 18 is a radio antenna core, 19 is an Iridium antenna core, 20 is a radial sealing ring, 21 is an axial sealing ring, and 22 is a GPS antenna core. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] like Figure 1 , Figure 2As shown, the overall structure of the present invention is divided into three parts: a switching and fixing assembly, a mast assembly, and an antenna assembly. The parts can be disassembled to avoid the impact of the antenna length problem on the packaging and transportation of the underwater robot. The adapter fixing assembly includes a cabin penetration joint 1, an adapter elbow 2 and an adapter fixing plate 3, the mast assembly includes a mast seat 4, an antenna mast 5 and a mast head 6, the antenna assembly includes an iridium antenna cover 7, a radio fixing cover 8, an iridium antenna insulating sleeve 9, an antenna connection plug 10, a GPS antenna cover 11, a coaxial signal cable 17, a radio antenna core 18, an iridium antenna core 19, a GPS antenna core 22 and an SMA coaxial cable adapter; wherein the cabin penetration joint 1, the adapter elbow 2, the mast seat 4, the antenna mast 5, the mast head 6, the iridium antenna cover 7, the antenna connection plug 10 and the GPS antenna cover 11 are sealed and connected in sequence, the GPS antenna core 22 is inserted on the antenna connection plug 10 and is covered inside by the GPS antenna cover 11, the radio fixing cover 8 and the iridium antenna core 19 are respectively installed inside the iridium antenna cover 7, and the radio fixing A radio antenna core 18 is installed in the cover 8, and coaxial signal cables 17 are respectively welded on the radio antenna core 18, the Iridium antenna core 19 and the GPS antenna core 22. After each coaxial signal cable 17 passes through the Iridium antenna cover 7, it passes through the mast head 6 and the antenna mast 5 in turn, and then enters the mast seat 4. The internal space formed by the mast seat 4 and the adapter elbow 2 is installed with the same number of SMA coaxial cable adapters as the coaxial signal cables 17 and corresponding to each other. Each coaxial signal cable 17 passed through the mast seat 4 is respectively connected to one end of the corresponding SMA coaxial cable adapter, and the other end of each SMA coaxial cable adapter is respectively welded with a coaxial signal cable 17. The coaxial signal cable 17 welded to the other end of each SMA coaxial cable adapter passes through the adapter elbow 2 and the cabin joint 1, and is respectively welded with an antenna connector 12 at the end. Each sealing point of the present invention adopts a double sealing method of a radial sealing ring 20 and an axial sealing ring 21 to ensure sealing performance under high pressure; each pressure-resistant part of the present invention is a cylindrical body as a whole, and adopts high-strength materials (such as silicon dioxide) to improve the pressure resistance; the present invention can withstand 80MPa external water pressure, and the maximum working depth is up to 7000 meters.

[0027] The penetration joint 1 of this embodiment is connected to one end of the adapter elbow 2 by threads, and the two are sealed by two sealing rings (i.e., radial sealing ring 20 and axial sealing ring 21) arranged radially and axially. The other end of the adapter elbow 2 is inserted into the stopper at one end of the mast seat 4, and the two are fixed together by four hexagon socket head screws 15. In this embodiment, an adapter fixing plate 3 is provided between the adapter elbow 2 and the mast seat 4, and the adapter fixing plate 3 is embedded in the step hole of the adapter elbow 2, and each SMA coaxial cable adapter is installed on the adapter fixing plate 3.

[0028] The SMA coaxial cable adapter of the present embodiment includes an SMA coaxial cable adapter seat 14 and an SMA coaxial cable adapter 16. There are three SMA coaxial cable adapter seats 14 and three SMA coaxial cable adapters 16. The three SMA coaxial cable adapter seats 14 are inserted into three evenly distributed holes on the adapter fixing plate 3. The three coaxial signal cables 17 are connected to one end ( Figure 2 The three coaxial signal cables 17 are welded through the through-cabin connector 1 and the adapter elbow 2. After the length of the three coaxial signal cables 17 is reserved, an antenna connector 12 is welded to the end of each of the three coaxial signal cables 17. Epoxy resin is poured into the cavity formed by the through-cabin connector 1, the adapter elbow 2 and the adapter fixing plate 3 through the center hole of the through-cabin connector 1 and cured. The through-cabin connector 1, the adapter elbow 2, the adapter fixing plate 3 and the three coaxial signal cables 17 inside are fixed by the epoxy resin. After curing, they form a whole, which avoids pulling of the cables and affecting the service life and signal quality. The other end of the three SMA coaxial cable adapters 14 ( Figure 2 The three SMA coaxial cable adapters 16 are respectively welded to the coaxial signal cables 17 welded on the radio antenna core 18, the Iridium antenna core 19 and the GPS antenna core 22.

[0029] One end of the antenna mast 5 of this embodiment ( Figure 2 The other end of the antenna mast 5 ( Figure 2 The right side of the center) is welded to one end of the mast head 6, and the other end of the mast head 6 is connected to one end of the Iridium antenna cover 7 by threading and tightened. An O-ring is set on the sealing groove of the mast head 6, and the three coaxial signal cables 17 welded to the radio antenna core 18, the Iridium antenna core 19 and the GPS antenna core 22 are passed through the mast head 6, the antenna mast 5 and the mast seat 4 in sequence, and then the three coaxial signal cables 17 are reserved for a set length and welded to the SMA coaxial cable adapter 16 respectively. Mark the antenna connector 12, the SMA coaxial cable adapter seat 14 and the SMA coaxial cable adapter 16 respectively to distinguish different types of antennas. The three SMA coaxial cable adapters 16 are tightened one by one with the three SMA coaxial cable adapter seats 14, and O-rings are set in the sealing grooves of the adapter elbow 2 and the mast seat 4 respectively.

[0030] In this embodiment, the radio antenna core 18, the Iridium antenna core 19 and the GPS antenna core 22 are coaxially arranged in series, with the GPS antenna core 22 at the top, the Iridium antenna core 19 in the middle, and the radio antenna core 18 at the bottom. A coaxial signal cable 17 is welded to each of the radio antenna core 18, the Iridium antenna core 19 and the GPS antenna core 22, and the required lengths of the three coaxial signal cables 17 must be reserved. The GPS antenna core 22 is embedded in the rectangular hole at one end of the antenna connection plug 10, and the coaxial signal cable 17 welded to the GPS antenna core 22 passes through the antenna connection plug 10. A radial sealing ring 20 and an axial sealing ring 21 are respectively sleeved in the two sealing grooves of the antenna connection plug 10, and the GPS antenna cover 11 is screwed onto the antenna connection plug 10 through a threaded connection to cover the GPS antenna core 22 inside. In this embodiment, at the other end of the antenna connection plug 10 ( Figure 2 The iridium antenna insulation sleeve 9 is sleeved on the left side of the center), and an O-ring is sleeved on the sealing groove on the left side of the antenna connection plug 10; the iridium antenna cover 7 and the antenna connection plug 10 are screwed together and tightened, and the iridium antenna core 19 is inserted into the iridium antenna cover 7, and the top end of the iridium antenna core 19 (i.e. Figure 2 The right side of the figure) is in contact with the Iridium antenna insulation sleeve 9, and at the same time, the coaxial signal cable welded to the GPS antenna core 22 is ensured to pass through the inner hole of the Iridium antenna core 19. Insert the radio fixing cover 8 into the Iridium antenna cover 7, so that the radio fixing cover 8 is in contact with the Iridium antenna core 19, and pass the two coaxial signal cables welded to the Iridium antenna core 19 and the GPS antenna core 22 through the radio fixing cover 8; insert the radio antenna core 18 into the radio fixing cover 8, and inject hot melt adhesive into the gap between the radio antenna core 18 and the radio fixing cover 8.

[0031] The Iridium antenna cover 7, radio fixed cover 8 and GPS antenna cover 11 of this embodiment are all made of high-strength non-metallic composite materials with good wave transmission performance and impermeability, such as silicon dioxide. The through-cabin joint 1, adapter elbow 2, mast seat 4, antenna mast 5, mast head 6 and antenna connection plug 10 are made of the same high-strength and corrosion-resistant metal material, such as titanium alloy. After integration, the return loss of the three types of antennas are tested respectively, and the pressure resistance and sealing performance are tested.

[0032] The present invention is suitable for surface communication and positioning of underwater robots at great depths. It packages three antennas, namely, iridium, GPS and radio, together, taking into full consideration many factors, such as the underwater sealing performance, pressure resistance, attenuation characteristics of antenna signals, return loss, cost, processability and ease of use.

Claims

1. A three-function antenna for a deep-sea underwater robot, characterized in that: The invention comprises a through-cabin joint (1), a transfer elbow (2), a mast seat (4), an antenna mast (5), a mast head (6), an iridium antenna cover (7), a radio fixing cover (8), an antenna connection plug (10), a GPS antenna cover (11), a coaxial signal cable (17), a radio antenna core (18), an iridium antenna core (19), a GPS antenna core (22) and an SMA coaxial cable adapter, wherein the through-cabin joint (1), the transfer elbow (2), the mast seat (4), the antenna mast (5), the mast head (6), the iridium antenna cover (7), the antenna connection plug (10) and the GPS antenna cover (11) are sealed and connected in sequence, the GPS antenna core (22) is inserted into the antenna connection plug (10) and is covered by the GPS antenna cover (11), the radio fixing cover (8) and the iridium antenna core (19) are respectively installed inside the iridium antenna cover (7), and the radio antenna core (18) is installed inside the radio fixing cover (8). 8), the radio antenna core (18), the iridium antenna core (19) and the GPS antenna core (22) are respectively welded with coaxial signal cables (17), each coaxial signal cable (17) passes through the iridium antenna cover (7), passes through the mast head (6), the antenna mast (5) in sequence, and then passes through the mast base (4), and the internal space formed by the mast base (4) and the adapter elbow (2) is installed with the same number of coaxial signal cables (17) and one-to-one corresponding to each other. SMA coaxial cable adapter, each coaxial signal cable (17) inserted through the mast seat (4) is respectively connected to one end of the corresponding SMA coaxial cable adapter, and the other end of each SMA coaxial cable adapter is welded with a coaxial signal cable (17), and the coaxial signal cable (17) welded to the other end of each SMA coaxial cable adapter passes through the adapter elbow (2) and the cabin penetration joint (1), and is respectively welded with an antenna joint (12) at the end; Each sealing point of the three-function antenna is double-sealed by a radial sealing ring (20) and an axial sealing ring (21), and each pressure-resistant part of the three-function antenna is cylindrical as a whole; The through-cabin joint (1) and the adapter elbow (2), the adapter elbow (2) and the mast seat (4), the mast head (6) and the iridium antenna cover (7), the iridium antenna cover (7) and the antenna connection plug (10), and the antenna connection plug (10) and the GPS antenna cover (11) are all detachably connected, and the antenna mast (5) and the mast seat (4) and the antenna mast (5) and the mast head (6) are all welded.

2. The three-function antenna for a deep-sea underwater robot according to claim 1, characterized in that: An adapter fixing plate (3) is provided between the adapter elbow (2) and the mast seat (4), and each of the SMA coaxial cable adapters is mounted on the adapter fixing plate (3). An internal cavity formed by the cabin penetration joint (1), the adapter elbow (2) and the adapter fixing plate (3) is poured with epoxy resin.

3. The three-function antenna for a deep-sea underwater robot according to claim 1, characterized in that: The SMA coaxial cable adapter comprises an SMA coaxial cable adapter seat (14) and an SMA coaxial cable adapter (16). Each of the SMA coaxial cable adapter seats (14) is installed in the internal space formed by the mast seat (4) and the adapter elbow (2). The coaxial signal cable (17) welded at one end of each of the SMA coaxial cable adapter seats (14) passes through the adapter elbow (2) and the cabin penetration joint (1). The other end of each of the SMA coaxial cable adapter seats (14) is connected to the SMA coaxial cable adapter (16). Each of the SMA coaxial cable adapters (16) is respectively welded to the coaxial signal cable (17) welded on the radio antenna core (18), the iridium antenna core (19) and the GPS antenna core (22).

4. The three-function antenna for a deep-sea underwater robot according to claim 1, characterized in that: The coaxial signal cable (17) welded on the GPS antenna core (22) passes through the Iridium antenna core (19) and then passes through the radio fixing cover (8). The coaxial signal cable (17) welded on the Iridium antenna core (19) passes through the radio fixing cover (8). The coaxial signal cable (17) welded on the radio antenna core (18), the Iridium antenna core (19) and the GPS antenna core (22) all pass through the mast head (6), the antenna mast (5) and the mast base (4).

5. The three-function antenna for a deep-sea underwater robot according to claim 1, characterized in that: The GPS antenna core (22) is embedded in one end of an antenna connection plug (10), the other end of the antenna connection plug (10) is sleeved with an iridium antenna insulation sleeve (9), and the iridium antenna core (19) is in abutment with the iridium antenna insulation sleeve (9).

6. The three-function antenna for a deep-sea underwater robot according to claim 1, characterized in that: The radio antenna core (18), the Iridium antenna core (19) and the GPS antenna core (22) are coaxially arranged in series.

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