Underwater antenna lifting device

Abstract

The utility model discloses an underwater antenna lifting device, which can realize the lifting of an antenna and the linkage of a part of a hull shell, and ensures that the hydrodynamic appearance of a UUV (Unmanned Underwater Vehicle) is not damaged when the antenna is in a landing state. The device mainly comprises a driving shaft (1), a rotating shaft bracket (2), an antenna cover plate (3), a speed reducer (4), a servo motor (5), an antenna rod (6), a connecting rod (7), an integrated antenna (8) and an auxiliary rotating shaft (9). The device uses a crank rocker mechanism for reference, when the antenna lands, the antenna cover plate is flush with the hull shell to ensure the hydrodynamic appearance, when the device acts, the motor drives the driving shaft to rotate to lift the antenna cover plate and the antenna to be perpendicular to the axis of the hull, and it is ensured that the antenna integration is away from the sea surface by a certain distance to achieve communication. The antenna lifting device is compact in structure, accurate in lifting reset and high in reliability.

Description

Technical Field

[0001] The utility model relates to a take-off and landing device for an underwater robot and other underwater equipment. The crank rocker mechanism is used to realize communication when the antenna is upright and the hydrodynamic shape is not damaged when the antenna is lowered. Background Art

[0002] Antenna lifting technology is an important part of underwater robot research. Antennas commonly used in underwater robots are direct protrusions, which increase navigation resistance and have extremely limited height above the water surface. Most liftable antennas do not have conformal capabilities.

[0003] The space of underwater robots is extremely precious, which leads to limited endurance, so how to reduce drag is extremely important. However, most mechanisms occupy a large space, and the space affected by the lifting mechanism becomes less than that of increasing battery capacity. In addition, due to the limitations of current technology, the communication quality of radio is poor when it is low to the sea surface, and the higher the distance, the better the effect. This creates a contradiction that a high antenna leads to high drag, and a low antenna leads to poor communication quality. This contradiction can be solved by a lifting mechanism with conformal capability. Utility Model Content

[0004] The utility model provides an underwater antenna lifting device which has the ability to ensure the hydrodynamic shape of the boat body when landing and has a self-locking function after lifting to realize the wave resistance.

[0005] The technical solution of the utility model is: an underwater antenna lifting device, including a driving shaft, a rotating shaft bracket, an antenna cover, a reducer, a servo motor, an antenna rod, a connecting rod, an integrated antenna and a secondary rotating shaft;

[0006] The rotating shaft bracket is a U-shaped bracket, and the secondary rotating shaft and the driving shaft are respectively installed on the rotating shaft bracket up and down. One end of the antenna rod is fixedly connected to the driving shaft, and the other end is installed with an integrated antenna; one end of the antenna cover is installed on the secondary rotating shaft, and the two ends of the connecting rod are respectively connected to the antenna cover and the antenna rod. The rotating shaft bracket part between the secondary rotating shaft and the driving shaft, the connecting rod, and the antenna rod and the antenna cover between the rotating shaft bracket and the connecting rod form a parallelogram, and the driving shaft is connected to the servo motor through a reducer.

[0007] Preferably, the connecting rod is connected to the antenna cover plate and the antenna rod via a rotating pair.

[0008] Preferably, the antenna cover is embedded in the hull shell and follows the shape of the hull shell.

[0009] Preferably, the contact surface between the antenna cover and the hull shell is an inclined surface.

[0010] Preferably, the inclined surface is inclined toward the center of the hull, with an angle of 30°-45°.

[0011] Preferably, the inclined surface is chamfered at an end portion close to the outer surface of the hull shell, and the plane where the chamfer is located is perpendicular to the tangent plane of the outer surface of the hull shell.

[0012] Preferably, the plane where the axes of the secondary rotating shaft and the driving shaft are located is not perpendicular to the antenna pole, and the distance between the axes of the secondary rotating shaft and the driving shaft projected to the plane where the axes of the driving shaft and the antenna pole are located is greater than the radius of the antenna pole.

[0013] Preferably, when the servo motor drives the drive shaft to rotate, the antenna pole and the antenna cover rise or fall together and are always parallel. When the antenna is in the lowered state, the antenna pole is parallel to the axis of the hull. At this time, the antenna cover is embedded in the hull shell and follows the shape to ensure the integrity of the hydrodynamic shape.

[0014] Preferably, the antenna cover is made of fiberglass, carbon fiber board, or PEEK material.

[0015] Preferably, the reducer is a worm gear reducer.

[0016] The advantages of the utility model are:

[0017] 1. The structure is compact, basically only the volume of a motor and a reducer is increased, and no additional space is occupied in the radial direction.

[0018] 2. High resetting accuracy. The inclined design of the fitting surface ensures that the antenna can maintain its hydrodynamic shape after being subjected to external impact or multiple movements.

[0019] 3. High reliability. By selecting a worm gear reducer with a self-locking function, it is ensured that it will not shake due to external forces (such as waves, etc.). BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0021] Figure 2 It is a schematic cross-sectional view of the antenna cover of the present utility model. DETAILED DESCRIPTION

[0022] The principle of the utility model is: the power adopts a combination of a servo motor and a worm gear reducer to achieve a transmission mode with high torque, high precision and self-locking ability. The antenna rod and the antenna cover are raised and lowered at the same time through a crank-rocker mechanism, and the hydrodynamic shape of the hull is not damaged during landing, in which the antenna rod is a crank and the antenna cover is a rocker. In addition, in order to ensure the reset accuracy of the closed surface after multiple lifting actions, a slope design is adopted.

[0023] Combination Figure 1 , introduces the structural composition and connection relationship of the utility model.

[0024] An antenna lifting device for a UUV mainly comprises a driving shaft 1, a rotating shaft bracket 2, an antenna cover 3, a reducer 4, a servo motor 5, an antenna rod 6, a connecting rod 7, an integrated antenna 8 and a secondary rotating shaft 9.

[0025] The pivot bracket is a U-shaped bracket, and the secondary pivot shaft and the driving shaft are respectively installed on the pivot bracket up and down. One end of the antenna rod is fixedly connected to the driving shaft, and the other end is installed with an integrated antenna; one end of the antenna cover is installed on the secondary pivot shaft, and the two ends of the connecting rod are respectively connected to the antenna cover and the antenna rod. The pivot bracket part between the secondary pivot shaft and the driving shaft, the connecting rod, and the antenna rod and antenna cover between the pivot bracket and the connecting rod form a parallelogram.

[0026] When in action, the servo motor 5 increases the rotation torque through the reducer 4 to drive the drive shaft 1 to rotate; the drive shaft 1 is fixedly connected to the antenna rod 6 to drive it to rotate; as the antenna rod 6 rotates, the antenna cover 3 and the antenna rod 6 are driven to rotate synchronously and parallel to each other through the connecting rod 7 and the shaft bracket 2; since the auxiliary shaft 9 and the drive shaft 1 are misaligned in the horizontal direction, and the auxiliary shaft 9 is located behind the drive shaft 1 at a distance greater than the radius of the antenna rod 6 (the front and rear are relative here), the auxiliary shaft 9 is located behind the drive shaft 1. Figure 1 In terms of position), it ensures that the antenna pole 6 can achieve a 90° vertical state, at which point it is at the highest distance from the water surface and has the best communication quality.

[0027] like Figure 1 As shown, the driving shaft 1, the auxiliary rotating shaft 9, and the head connection and the tail connection of the connecting rod 7 can be regarded as four points of a parallelogram, and all of them can rotate.

[0028] When the antenna is in the landing state, it is parallel to the hull axis. The antenna cover 3 is parallel to the antenna rod 6, that is, parallel to the hull axis. At this time, the antenna cover is flush with the hull shell. Figure 2 As shown in the figure, the antenna cover 3 has a slope design at the closing part with the hull. The slope is inclined toward the center of the hull shell, with an angle of 30°-45°. Analyze the reset of the antenna cover. When the antenna is raised, the antenna cover 2 is subjected to external forces such as waves, which causes the antenna cover 2 to produce the following Figure 2 After displacement along the x direction, during the descent, as the fitting surface with the hull shell 1 is closed successively from back to front, the cross-sectional slope will cause it to be displaced to the center, thus ensuring the integrity of the hydrodynamic shape during landing.

[0029] Figure 2 In a preferred embodiment, the end of the inclined surface close to the outer surface of the hull shell is chamfered, and the plane where the chamfer is located is perpendicular to the section of the outer surface of the hull shell. The antenna cover plate 3 is made of low-rigidity material, such as fiberglass, carbon fiber board, or PEEK material. The reducer 4 is a worm gear reducer.

[0030] Parts not described in detail in the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An underwater antenna lifting device, characterized in that: It includes a driving shaft, a rotating shaft bracket, an antenna cover, a reducer, a servo motor, an antenna rod, a connecting rod, an integrated antenna and a secondary rotating shaft; The rotating shaft bracket is a U-shaped bracket, and the secondary rotating shaft and the driving shaft are respectively installed on the rotating shaft bracket up and down. One end of the antenna rod is fixedly connected to the driving shaft, and the other end is installed with an integrated antenna; one end of the antenna cover is installed on the secondary rotating shaft, and the two ends of the connecting rod are respectively connected to the antenna cover and the antenna rod. The rotating shaft bracket part between the secondary rotating shaft and the driving shaft, the connecting rod, and the antenna rod and the antenna cover between the rotating shaft bracket and the connecting rod form a parallelogram, and the driving shaft is connected to the servo motor through a reducer.

2. The underwater antenna lifting device according to claim 1, characterized in that: The connecting rod is connected to the antenna cover plate and the antenna rod through a rotating pair.

3. The underwater antenna lifting device according to claim 1, characterized in that: The antenna cover is embedded in the hull shell and follows the shape of the hull shell.

4. The underwater antenna lifting device according to claim 3, characterized in that: The contact surface between the antenna cover and the hull shell is an inclined surface.

5. The underwater antenna lifting device according to claim 4, characterized in that: The inclined surface is inclined toward the center of the hull shell at an angle of 30°-45°.

6. An underwater antenna lifting device according to claim 4 or 5, characterized in that: The end of the inclined surface close to the outer surface of the hull shell is chamfered, and the plane where the chamfer is located is perpendicular to the tangent plane of the outer surface of the hull shell.

7. The underwater antenna lifting device according to claim 1, characterized in that: The plane where the axes of the secondary rotating shaft and the driving shaft are located is not perpendicular to the antenna rod, and the distance between the axes of the secondary rotating shaft and the driving shaft projected to the plane where the axes of the driving shaft and the antenna rod are located is greater than the radius of the antenna rod.

8. The underwater antenna lifting device according to claim 1, characterized in that: When the servo motor drives the drive shaft to rotate, the antenna pole and the antenna cover rise or fall together and are always parallel. When the antenna is in the lowering state, the antenna pole is parallel to the axis of the hull. At this time, the antenna cover is embedded in the hull shell and follows the shape to ensure the integrity of the hydrodynamic shape.

9. The underwater antenna lifting device according to claim 1, characterized in that: The antenna cover is made of fiberglass, carbon fiber board and PEEK materials.

10. The underwater antenna lifting device according to claim 1, characterized in that: The reducer is a worm gear reducer.

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