A flexible combined antenna for underwater robot

Abstract

The present invention relates to a flexible combined antenna for an underwater robot, comprising an antenna assembly, an antenna adapter, a flexible rubber vulcanized section and an antenna base connected in sequence, wherein a supporting spring is provided in the flexible rubber vulcanized section; a GPS antenna cover, a GPS antenna base, an iridium antenna cover and an antenna adapter are sealed and threaded in sequence, a GPS antenna is installed on the GPS antenna base and covered inside the GPS antenna cover, and one end of a GPS coaxial feeder is connected to the GPS antenna; an iridium antenna is installed in the iridium antenna cover, one end of an iridium coaxial feeder is connected to the iridium antenna, the other end of the iridium coaxial feeder and the other end of the GPS coaxial feeder are both passed through the antenna adapter, the flexible rubber vulcanized section and the antenna base, and the GPS coaxial feeder and the iridium coaxial feeder are potted by epoxy resin in the antenna adapter and the antenna base. The present invention has multiple advantages such as simple structure, small drainage volume, good underwater sealing performance and communication signal, and easy installation.

Description

Technical Field

[0001] The invention relates to a combined antenna, in particular to a flexible combined antenna for an underwater robot. Background Art

[0002] An underwater robot is a movable underwater device that can perform specific tasks underwater. Underwater robots can generally be divided into cabled underwater robots and untethered underwater autonomous robots. The communication and positioning of cabled underwater robots generally use cables or optical fibers to directly connect the operating console to the robot, and the operating console can be used for real-time control, but the length of the cable or optical fiber limits the range of activities; while there is no physical connection between the operating console and the robot of untethered underwater autonomous robots, so it has the characteristics of wide cruising range and long range. In order to realize communication and positioning between untethered underwater autonomous robots and shore-based or ship-based systems, it is necessary to interact with the underwater robot through a special antenna after it surfaces. The methods of surface communication and positioning include radio communication, satellite communication, etc.; surface positioning includes GPS positioning, Beidou positioning, etc.

[0003] In order to ensure the wave transmission of the combined antenna, the pressure-resistant antenna cover of the combined antenna is often made of plastic with good wave transmission, and the overall strength is low. Therefore, the combined antenna is the most vulnerable part during the deployment and recovery process. During the deployment and recovery operation, the antenna is often damaged and cannot continue to operate. At the same time, in order to ensure good communication effects, the combined antenna should be a relatively high part of the carrier, which is also more troublesome during transportation. Summary of the invention

[0004] In view of the above problems existing in the existing combination antenna, the purpose of the present invention is to provide a flexible combination antenna for underwater robots with compact structure and reliable operation. The flexible combination antenna is suitable for underwater robot surface communication and positioning, and fully considers the underwater sealing of the antenna, the loss characteristics of the antenna signal, etc. The flexible section of the flexible combination antenna of the present invention plays a good buffering role, effectively avoiding the antenna from being damaged by collision during deployment and recovery. At the same time, the flexible section can be bent during transportation to reduce the maximum external dimensions of the carrier and facilitate transportation.

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

[0006] The present invention comprises an antenna assembly, an antenna adapter, a flexible rubber vulcanized section and an antenna base which are connected in sequence, wherein a supporting spring is arranged in the flexible rubber vulcanized section; the antenna assembly comprises a GPS antenna cover, a GPS antenna, a GPS antenna base, an iridium antenna cover, an iridium antenna, a GPS coaxial feeder and an iridium coaxial feeder, one end of the GPS antenna base is connected to the GPS antenna cover with a sealing thread, the other end of the GPS antenna base is connected to one end of the iridium antenna cover with a sealing thread, the other end of the iridium antenna cover is connected to one end of the antenna adapter with a sealing thread The GPS antenna is installed at one end of the GPS antenna base and is covered inside the GPS antenna cover, and one end of the GPS coaxial feeder is connected to the GPS antenna; the iridium antenna is installed in the iridium antenna cover, and one end of the iridium coaxial feeder is connected to the iridium antenna, and the other end of the iridium coaxial feeder and the other end of the GPS coaxial feeder are passed through the antenna adapter, the flexible rubber vulcanized section and the antenna base, and the GPS coaxial feeder and the iridium coaxial feeder are potted with epoxy resin in the antenna adapter and the antenna base.

[0007] Wherein: the iridium antenna cover is provided with a GPS iridium insulating component and an iridium antenna supporting component respectively, and the iridium antenna is fixedly installed inside the iridium antenna cover through the GPS iridium insulating component and the iridium antenna supporting component.

[0008] The GPS iridium insulator is in contact with the other end of the GPS antenna base, and the GPS coaxial feed line passes through the GPS iridium insulator.

[0009] The GPS coaxial feeder and the Iridium coaxial feeder pass through the middle hole on the antenna adapter, and the middle hole of the antenna adapter is encapsulated with epoxy resin. After the epoxy resin is cured, an adapter epoxy resin is formed; the GPS coaxial feeder and the Iridium coaxial feeder are fixed by the adapter epoxy resin.

[0010] The GPS coaxial feeder and the Iridium coaxial feeder pass through the middle hole on the antenna base and directly enter the underwater robot cabin. The middle hole of the antenna base is encapsulated with epoxy resin, and the epoxy resin is cured to form a base epoxy resin; the GPS coaxial feeder and the Iridium coaxial feeder are fixed by the base epoxy resin.

[0011] After the antenna assembly is connected, the antenna adapter and the antenna base are placed in a rubber vulcanization mold for vulcanization bonding, and the support spring is placed in the vulcanization layer during the vulcanization bonding process; after vulcanization, the flexible rubber vulcanization section is in an upright state.

[0012] The GPS antenna cover, GPS antenna base, Iridium antenna cover, antenna adapter, antenna base and the flexible rubber vulcanization section in a state directly after vulcanization are coaxially arranged.

[0013] The advantages and positive effects of the present invention are:

[0014] 1. The present invention has a strong underwater sealing performance, and the coaxial signal line is directly introduced into the cabin through any form of switching, thereby eliminating the attenuation of the signal when the coaxial signal line is connected to the watertight cable.

[0015] 2. The present invention adopts a design method of a flexible rubber vulcanized section, which can provide good buffering and protection for the antenna assembly and can be bent for easy transportation.

[0016] 3. The present invention packages the iridium antenna and the GPS antenna into one, which can simultaneously meet the requirements of surface communication and positioning of the underwater robot and has strong practicality.

[0017] 4. The present invention has a small displacement volume, and the underwater robot does not need to increase its buoyancy greatly to completely float to the surface, which effectively reduces the energy loss of the carrier due to providing communication buoyancy.

[0018] 5. The present invention has low cost, simple structure, small size, light weight and is easy to install on an underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an internal cross-sectional view of the overall structure of the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the antenna assembly;

[0021] Among them: 1 is the antenna assembly, 2 is the radial sealing ring A, 3 is the antenna adapter, 4 is the flexible rubber vulcanized section, 5 is the supporting spring, 6 is the antenna base, 7 is the GPS coaxial feeder, 8 is the Iridium coaxial feeder, 9 is the base epoxy resin, 10 is the adapter epoxy resin, 11 is the GPS antenna cover, 12 is the radial sealing ring B, 13 is the GPS antenna, 14 is the GPS antenna base, 15 is the radial sealing ring C, 16 is the GPS Iridium insulator, 17 is the Iridium antenna cover, 18 is the Iridium antenna, and 19 is the Iridium antenna support. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 , Figure 2 As shown, the present invention comprises an antenna assembly 1, an antenna adapter 3, a flexible rubber vulcanized section 4 and an antenna base 6 which are connected in sequence, wherein a supporting spring 5 is provided in the flexible rubber vulcanized section 4.

[0024] The antenna assembly 1 includes a GPS antenna cover 11, a GPS antenna 13, a GPS antenna base 14, a GPS iridium insulator 16, an iridium antenna cover 17, an iridium antenna 18, an iridium antenna support 19, a GPS coaxial feeder 7 and an iridium coaxial feeder 8. One end of the GPS antenna base 14 is threadedly connected to the GPS antenna cover 11 and sealed by providing a double radial sealing ring B12; the other end of the GPS antenna base 14 is threadedly connected to one end of the iridium antenna cover 17 and sealed by providing a double radial sealing ring C15; the other end of the iridium antenna cover 17 is threadedly connected to one end of the antenna adapter 3, and a double radial sealing ring A2 is used to seal the two. The GPS antenna 13 is connected to one end of the GPS coaxial feeder 7 by welding, and the GPS coaxial feeder 7 is passed through the middle hole of the GPS antenna base 14, and then the GPS antenna 13 is fixed to one end of the GPS antenna base 14 and covered inside the GPS antenna cover 11. The iridium antenna 18 is fixedly installed in the iridium antenna cover 17. The iridium antenna cover 17 of this embodiment is respectively provided with a GPS iridium insulator 16 and an iridium antenna support 19. The iridium antenna 18 is fixedly installed in the interior of the iridium antenna cover 17 through the GPS iridium insulator 16 and the iridium antenna support 19. After the iridium antenna 18 is installed in the iridium antenna cover 17, the iridium antenna support 19 is installed to assist in fixing the iridium antenna 18. The GPS iridium insulator 16 is abutted against the other end of the GPS antenna base 14, and the GPS coaxial feeder 7 passes through the GPS iridium insulator 16. One end of the iridium coaxial feeder 8 is connected to the iridium antenna 18 by welding for signal transmission, and thus the antenna assembly 1 is formed. The antenna assembly 1 has satellite communication function and positioning function. The CPS antenna cover 11 and the iridium antenna cover 17 of this embodiment are made of non-metallic materials (such as PEEK, polyetheretherketone) with good wave transmittance to ensure that the antenna signal is good.

[0025] The other end of the Iridium coaxial feeder 8 and the other end of the GPS coaxial feeder 7 are passed through the antenna adapter 3, the flexible rubber vulcanized section 4 and the antenna base 6. The GPS coaxial feeder 7 and the Iridium coaxial feeder 8 pass through the middle hole on the antenna adapter 3, and then the middle hole of the antenna adapter 3 is encapsulated with epoxy resin. After the epoxy resin is cured, the adapter epoxy resin 10 is formed, which can fix the coaxial feeder and resist the external water pressure during the compression process of the antenna. The GPS coaxial feeder 7 and the Iridium coaxial feeder 8 pass through the middle hole on the antenna base 6 and directly enter the underwater robot cabin without any switching in the middle, which effectively reduces signal attenuation. Straighten the GPS coaxial feeder 7 and the Iridium coaxial feeder 8, and adjust the distance between the antenna base 6 and the antenna adapter 3 to be exactly the length of the flexible rubber vulcanized section 4. Then, the middle hole of the antenna base 6 is encapsulated with epoxy resin. After the epoxy resin is cured, a base epoxy resin 9 is formed, which plays the role of fixing the coaxial feeder and can withstand external water pressure when the antenna is under pressure.

[0026] The antenna adapter 3 and the antenna base 6 connected to the antenna assembly 1 are placed in a rubber vulcanization mold for vulcanization bonding. Due to the low rigidity of the rubber, the flexible section formed by vulcanization does not have the support capacity and cannot keep the antenna upright. Therefore, during the vulcanization bonding process, a support spring 5 is placed in the vulcanization layer. The support spring 5 is a coil spring with the required rigidity. It can keep an upright state or bend. The final vulcanized antenna is as shown in FIG. Figure 1 As shown. The vulcanized flexible rubber vulcanized section 4 can remain upright under normal conditions to ensure good antenna communication signals; at the same time, during the deployment and recovery process, if the antenna assembly 1 is bumped, the flexible rubber vulcanized section 4 can play an effective buffering role to protect the antenna cover of the antenna assembly 1 from damage; at the same time, during transportation, the flexible rubber vulcanized section 4 can be bent to facilitate carrier transportation. A sealing and threaded interface is left on the antenna base 6 to facilitate connection and sealing with the carrier.

[0027] The GPS antenna cover 11, GPS antenna base 14, Iridium antenna cover 17, antenna adapter 3, antenna base 6 and the flexible rubber vulcanization section 4 in a state directly after vulcanization of the present invention are coaxially arranged.

Claims

1. A flexible combined antenna for an underwater robot, characterized in that: The invention comprises an antenna assembly (1), an antenna adapter (3), a flexible rubber vulcanized section (4) and an antenna base (6) which are connected in sequence, wherein a support spring (5) is provided in the flexible rubber vulcanized section (4); the antenna assembly (1) comprises a GPS antenna cover (11), a GPS antenna (13), a GPS antenna base (14), an Iridium antenna cover (17), an Iridium antenna (18), a GPS coaxial feeder (7) and an Iridium coaxial feeder (8); one end of the GPS antenna base (14) is sealed and threadedly connected to the GPS antenna cover (11), and the other end is sealed and threadedly connected to one end of the Iridium antenna cover (17); the other end of the Iridium antenna cover (17) is sealed and threadedly connected to one end of the antenna adapter (3). The GPS antenna (13) is installed at one end of the GPS antenna base (14) and is covered inside the GPS antenna cover (11); one end of the GPS coaxial feeder (7) is connected to the GPS antenna (13); the iridium antenna (18) is installed inside the iridium antenna cover (17); one end of the iridium coaxial feeder (8) is connected to the iridium antenna (18); the other end of the iridium coaxial feeder (8) and the other end of the GPS coaxial feeder (7) are passed through the antenna adapter (3), the flexible rubber vulcanized section (4) and the antenna base (6); the GPS coaxial feeder (7) and the iridium coaxial feeder (8) are potted with epoxy resin inside the antenna adapter (3) and the antenna base (6); After the antenna assembly (1) is connected, the antenna adapter (3) and the antenna base (6) are placed in a rubber vulcanization mold for vulcanization bonding, and the support spring (5) is placed in the vulcanization layer during the vulcanization bonding process; after vulcanization, the flexible rubber vulcanization section (4) is in an upright state; The iridium antenna cover (17) is provided with a GPS iridium insulating component (16) and an iridium antenna supporting component (19) respectively, and the iridium antenna (18) is fixedly mounted inside the iridium antenna cover (17) via the GPS iridium insulating component (16) and the iridium antenna supporting component (19).

2. The flexible combined antenna for underwater robot according to claim 1, characterized in that: The GPS iridium insulator (16) is in contact with the other end of the GPS antenna base (14), and the GPS coaxial feeder (7) passes through the GPS iridium insulator (16).

3. The flexible combined antenna for underwater robot according to claim 1, characterized in that: The GPS coaxial feeder (7) and the Iridium coaxial feeder (8) pass through the middle hole on the antenna adapter (3); the middle hole of the antenna adapter (3) is encapsulated with epoxy resin, and after the epoxy resin is cured, an adapter epoxy resin (10) is formed; the GPS coaxial feeder (7) and the Iridium coaxial feeder (8) are fixed by the adapter epoxy resin (10).

4. The flexible combined antenna for underwater robot according to claim 1, characterized in that: The GPS coaxial feeder (7) and the Iridium coaxial feeder (8) pass through the middle hole on the antenna base (6) and directly enter the underwater robot cabin. The middle hole of the antenna base (6) is encapsulated with epoxy resin, and the epoxy resin is cured to form a base epoxy resin (9). The GPS coaxial feeder (7) and the Iridium coaxial feeder (8) are fixed by the base epoxy resin (9).

5. The flexible combined antenna for underwater robot according to claim 1, characterized in that: The GPS antenna cover (11), the GPS antenna base (14), the Iridium antenna cover (17), the antenna adapter (3), the antenna base (6), and the flexible rubber vulcanized section (4) in a state directly after vulcanization are coaxially arranged.

Images