CN112563714B - A flexible combined antenna for underwater robot - Google Patents
A flexible combined antenna for underwater robot Download PDFInfo
- Publication number
- CN112563714B CN112563714B CN202011448288.0A CN202011448288A CN112563714B CN 112563714 B CN112563714 B CN 112563714B CN 202011448288 A CN202011448288 A CN 202011448288A CN 112563714 B CN112563714 B CN 112563714B
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- China
- Prior art keywords
- antenna
- iridium
- gps
- coaxial feeder
- base
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/04—Adaptation for subterranean or subaqueous use
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/085—Flexible aerials; Whip aerials with a resilient base
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/50—Structural association of antennas with earthing switches, lead-in devices or lightning protectors
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q21/00—Antenna arrays or systems
- H01Q21/30—Combinations of separate antenna units operating in different wavebands and connected to a common feeder system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Details Of Aerials (AREA)
Abstract
The invention relates to a flexible combined antenna for an underwater robot, which comprises an antenna assembly, an antenna adapter, a flexible rubber vulcanization section and an antenna base which are sequentially connected, wherein a supporting spring is arranged in the flexible rubber vulcanization section, a GPS antenna housing, a GPS antenna base, an iridium antenna housing and the antenna adapter are sequentially connected in a sealing threaded manner, the GPS antenna is arranged on the GPS antenna base and is covered in the GPS antenna housing, one end of a GPS coaxial feeder is connected with the GPS antenna, the iridium antenna is arranged in the iridium antenna housing, one end of an iridium coaxial feeder is connected with the iridium antenna, the other end of the iridium coaxial feeder and the other end of the GPS coaxial feeder are respectively penetrated by the antenna adapter, the flexible rubber vulcanization section and the antenna base, and the GPS coaxial feeder and the iridium coaxial feeder are encapsulated by epoxy resin in the antenna adapter and the antenna base. The invention has the advantages of simple structure, small drainage volume, good underwater sealing performance and communication signals, easy installation and the like.
Description
Technical Field
The invention relates to a combined antenna, in particular to a flexible combined antenna for an underwater robot.
Background
An underwater robot is a movable underwater device capable of performing a specific task under water. Underwater robots can be generally classified into cabled underwater robots and cableless underwater autonomous robots. The communication and positioning of the cabled underwater robot are generally realized by directly connecting an operation platform with the robot through cables or optical fibers, the operation platform can control the real-time operation, but the length of the cables or the optical fibers limits the moving range, and the operation platform of the cableless underwater autonomous robot is not physically connected with the robot, so that the cableless underwater autonomous robot has the characteristics of wide cruising range and long navigation range. In order to realize communication and positioning between the cable-free underwater autonomous robot and the shore or ship base, interaction is required to be carried out through a special antenna after the underwater robot emerges from the water surface. The water surface communication positioning modes include radio communication, satellite communication and the like, and the water surface positioning modes include GPS positioning, beidou positioning and the like.
In order to ensure the wave permeability of the combined antenna, the pressure-resistant radome of the combined antenna is often made of plastic with good wave permeability, and the overall strength is low. Therefore, the combined antenna is the weakest part in the process of cloth placement and recovery, and the problem that the operation cannot be continued due to antenna collision damage often occurs in the process of cloth placement and recovery operation. Meanwhile, in order to ensure good communication effect, the combined antenna should pay out a relatively high part of the carrier, which is also troublesome in the transportation process.
Disclosure of Invention
Aiming at the problems of the prior combined antenna, the invention aims to provide the flexible combined antenna for the underwater robot, which has compact structure and reliable operation. The flexible combined antenna is suitable for underwater robot water surface communication and positioning, and fully considers the underwater tightness of the antenna, the loss characteristics of antenna signals and the like. The flexible section of the flexible combined antenna plays a good role in buffering, and effectively avoids collision damage of the antenna in the process of deployment and recovery. Meanwhile, the flexible section can be bent in the transportation process, so that the maximum outline dimension of the carrier is reduced, and the transportation is convenient.
The aim of the invention is realized by the following technical scheme:
The antenna assembly comprises a GPS antenna housing, a GPS antenna base, an iridium antenna housing, an iridium antenna, a GPS coaxial feeder and an iridium coaxial feeder, wherein the antenna assembly, the antenna adapter, the flexible rubber vulcanization section and the antenna base are sequentially connected, a supporting spring is arranged in the flexible rubber vulcanization section, the antenna assembly comprises the GPS antenna housing, the GPS antenna base, the iridium antenna housing, the iridium antenna, the GPS coaxial feeder and the iridium coaxial feeder, one end of the GPS antenna base is in sealing threaded connection with the GPS antenna housing, the other end of the iridium antenna housing is in sealing threaded connection with one end of the antenna adapter, the GPS antenna is arranged at one end of the GPS antenna base and is covered in the GPS antenna housing, one end of the GPS coaxial feeder is connected with the GPS antenna, the iridium antenna is arranged in the iridium antenna housing, one end of the iridium coaxial feeder and the other end of the iridium coaxial feeder penetrate through the antenna adapter, the flexible rubber vulcanization section and the antenna base, and the GPS coaxial feeder are encapsulated and the iridium coaxial feeder are filled and encapsulated through epoxy resin.
The iridium antenna housing is respectively provided with a GPS iridium insulator and an iridium antenna support, and the iridium antenna is fixedly arranged in the iridium antenna housing through the GPS iridium insulator and the iridium antenna support.
The GPS iridium insulator is abutted with the other end of the GPS antenna base, and the GPS coaxial feeder line passes through the GPS iridium insulator.
The GPS coaxial feeder and the iridium coaxial feeder penetrate through a middle hole on the antenna adapter, the middle hole of the antenna adapter is filled and sealed with epoxy resin, the epoxy resin is solidified to form adapter epoxy resin, and the GPS coaxial feeder and the iridium coaxial feeder are fixed through the adapter epoxy resin.
The GPS coaxial feeder and the iridium coaxial feeder directly enter the underwater robot cabin after penetrating out from the middle hole on the antenna base, the middle hole of the antenna base is filled and sealed by epoxy resin, the epoxy resin is solidified to form base epoxy resin, and the GPS coaxial feeder and the iridium coaxial feeder are fixed by the base epoxy resin.
The antenna adapter and the antenna base after being connected with the antenna assembly are placed into a rubber vulcanization mold for vulcanization adhesion, the supporting springs are placed into a vulcanization layer in the vulcanization adhesion process, and the vulcanized flexible rubber vulcanization section is in an upright state.
The GPS antenna housing, the GPS antenna base, the iridium antenna housing, the antenna adapter, the antenna base and the flexible rubber vulcanization section in a direct state after vulcanization are coaxially arranged.
The invention has the advantages and positive effects that:
1. The invention has strong underwater sealing performance, and the coaxial signal wire is directly led into the cabin to be switched in any form, so that the attenuation of signals when the coaxial signal wire is connected with the watertight cable is avoided.
2. The invention adopts the design mode of the flexible rubber vulcanization section, can play a good role in buffering and protecting the antenna assembly, can bend at the same time, and is convenient for transportation.
3. According to the invention, the iridium antenna and the GPS antenna are packaged into a whole, so that the requirements of underwater robot water surface communication and positioning can be met at the same time, and the practicability is high.
4. The invention has small drainage volume, can completely float out of the water surface without improving the very large buoyancy of the underwater robot, and effectively reduces the energy loss of the carrier due to the communication buoyancy.
5. The invention has low cost, simple structure, small outline dimension and light weight, and is easy to be installed on an underwater robot.
Drawings
FIG. 1 is an internal cross-sectional view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the antenna assembly of FIG. 1;
the antenna assembly comprises an antenna assembly, a radial sealing ring A, an antenna adapter, a flexible rubber vulcanization section, a supporting spring, an antenna base, a GPS coaxial feeder, an iridium coaxial feeder, a base epoxy resin, an adapter epoxy resin, a GPS antenna cover, a radial sealing ring B, a GPS antenna base, a radial sealing ring C, a GPS iridium insulator, an iridium antenna cover, an iridium antenna and an iridium antenna support, wherein the antenna assembly is 1, the radial sealing ring A, the antenna adapter is 2, the flexible rubber vulcanization section is 4, the supporting spring is 5, the antenna base is 7, the GPS coaxial feeder is 8, the iridium coaxial feeder is 9, the base epoxy resin is 10, the adapter epoxy resin is 11, the GPS antenna cover is 12, the radial sealing ring B is 13, the GPS antenna is 14, the GPS antenna base is 15, the radial sealing ring C is 16, the GPS iridium insulator is 17, the iridium antenna cover is 18, and the iridium antenna support is 19.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises an antenna assembly 1, an antenna adapter 3, a flexible rubber vulcanization section 4 and an antenna base 6 which are connected in sequence, wherein a supporting spring 5 is arranged in the flexible rubber vulcanization section 4.
The antenna assembly 1 comprises a GPS antenna housing 11, a GPS antenna 13, a GPS antenna base 14, a GPS iridium insulator 16, an iridium antenna housing 17, an iridium antenna 18, an iridium antenna support 19, a GPS coaxial feeder 7 and an iridium coaxial feeder 8, wherein one end of the GPS antenna base 14 is in threaded connection with the GPS antenna housing 11 and is sealed by arranging a double-channel radial sealing ring B12, the other end of the GPS antenna base 14 is in threaded connection with one end of the iridium antenna housing 17 and is sealed by arranging a double-channel radial sealing ring C15, the other end of the iridium antenna housing 17 is in threaded connection with one end of the antenna adapter 3, and the two are sealed by adopting a double-channel radial sealing ring A2. The GPS antenna 13 is connected with one end of the GPS coaxial feeder 7 in a welding mode, the GPS coaxial feeder 7 passes through the middle hole of the GPS antenna base 14, and then the GPS antenna 13 is fixed at 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 radome 17, and the iridium radome 17 in this embodiment is respectively provided with a GPS iridium insulator 16 and an iridium antenna support 19, and the iridium antenna 18 is fixedly installed in the iridium radome 17 through the GPS iridium insulator 16 and the iridium antenna support 19. The iridium antenna 18 is installed in the iridium antenna housing 17 and then installed in the iridium antenna support 19, so that the iridium antenna 18 is fixed in an auxiliary manner. The GPS iridium insulator 16 abuts against the other end of the GPS antenna base 14, and the GPS coaxial feeder 7 is penetrated by the GPS iridium insulator 16. One end of the iridium coaxial feeder 8 is connected with an iridium antenna 18 in a welding mode for signal transmission, so that the antenna assembly 1 is formed. The antenna assembly 1 has a satellite communication function and a positioning function. CPS radome 11 and iridium radome 17 of this embodiment are both made of nonmetallic materials (such as PEEK, polyether ether ketone) with good wave permeability, so as to ensure good signals of the antenna.
The other end of the iridium coaxial feeder 8 and the other end of the GPS coaxial feeder 7 pass through the antenna adapter 3, the flexible rubber vulcanization section 4 and the antenna base 6. The GPS coaxial feeder 7 and the iridium coaxial feeder 8 are penetrated out from the middle hole of the antenna adapter 3, then the middle hole of the antenna adapter 3 is encapsulated by epoxy resin, and the epoxy resin is cured to form an adapter epoxy resin 10, so that the function of fixing the coaxial feeder can be achieved, and meanwhile, the external water pressure can be resisted in 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 then directly enter the underwater robot cabin, and the middle is not subjected to any switching, so that the signal attenuation is effectively reduced. The GPS coaxial feeder 7 and the iridium coaxial feeder 8 are straightened, the distance between the antenna base 6 and the antenna adapter 3 is adjusted to be just the length of the flexible rubber vulcanization section 4, then the middle hole of the antenna base 6 is filled and sealed by epoxy resin, the epoxy resin is solidified to form a base epoxy resin 9, the effect of fixing the coaxial feeder is achieved, and meanwhile, the external water pressure can be resisted in the compression process of the antenna.
The antenna adapter 3 and the antenna base 6 connected with the antenna assembly 1 are placed into a rubber vulcanization mold for vulcanization adhesion, and the antenna can not be kept in an upright state because the rubber rigidity is low and the flexible section formed by vulcanization does not have supporting capability. Therefore, the supporting spring 5 is placed in the vulcanization layer in the vulcanization bonding process, the supporting spring 5 is a coil spring, has required rigidity, can be kept in an upright state, can be bent, and finally is vulcanized and formed, and the antenna is shown in fig. 1. The vulcanized flexible rubber vulcanization section 4 can keep an upright state in a normal state to ensure good antenna communication signals, meanwhile, in the process of deployment and recovery, if the antenna assembly 1 collides, the flexible rubber vulcanization section 4 can play an effective buffering role to protect the radome of the antenna assembly 1 from being damaged, and meanwhile, in the process of transportation, the flexible rubber vulcanization section 4 can be bent to facilitate carrier transportation. The antenna base 6 is provided with a sealing and threaded interface, so that the antenna base is convenient to connect and seal with a carrier.
The GPS antenna housing 11, the GPS antenna base 14, the iridium antenna housing 17, the antenna adapter 3, the antenna base 6 and the flexible rubber vulcanization section 4 in a direct state after vulcanization are coaxially arranged.
Claims (5)
1. A flexible combined antenna for an underwater robot is characterized by comprising an antenna assembly (1), an antenna adapter (3), a flexible rubber vulcanization section (4) and an antenna base (6) which are sequentially connected, wherein a supporting spring (5) is arranged in the flexible rubber vulcanization section (4), the antenna assembly (1) comprises a GPS antenna housing (11), a GPS antenna (13), a GPS antenna base (14), an iridium antenna housing (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 in threaded connection with the GPS antenna housing (11) in a sealing mode, the other end of the GPS antenna base (14) is in threaded connection with one end of the iridium antenna housing (17) in a sealing mode, the other end of the iridium antenna housing (17) is in threaded connection with one end of the antenna adapter (3), the GPS antenna (13) is mounted at one end of the GPS antenna housing (14) and covers the inside the GPS antenna housing (11), one end of the coaxial feeder (7) is connected with the GPS antenna (13), one end of the coaxial feeder (18) is mounted at one end of the GPS antenna (7) and is connected with the other end of the iridium antenna housing (8) in a sealing mode, and the other end of the iridium antenna (8) is connected with one end of the iridium antenna (8) in a sealing mode The flexible rubber vulcanization section (4) and the antenna base (6) penetrate through, and the GPS coaxial feeder (7) and the iridium coaxial feeder (8) are encapsulated by epoxy resin in the antenna adapter (3) and the antenna base (6);
the antenna adapter (3) and the antenna base (6) which are connected with the antenna assembly (1) are placed into a rubber vulcanization mold for vulcanization adhesion, and the supporting spring (5) is placed into a vulcanization layer in the vulcanization adhesion process;
The iridium antenna housing (17) is respectively provided with a GPS iridium insulator (16) and an iridium antenna support (19), and the iridium antenna (18) is fixedly arranged in the iridium antenna housing (17) through the GPS iridium insulator (16) and the iridium antenna support (19).
2. The flexible combined antenna for the underwater robot according to claim 1, wherein the GPS iridium insulator (16) is abutted to the other end of the GPS antenna base (14), and the GPS coaxial feeder (7) is penetrated by the GPS iridium insulator (16).
3. The flexible combined antenna for the underwater robot, which is disclosed in claim 1, is characterized in that the GPS coaxial feeder (7) and the iridium coaxial feeder (8) penetrate through a middle hole on the antenna adapter (3), the middle hole of the antenna adapter (3) is filled and sealed by epoxy resin, the epoxy resin is solidified to form an adapter epoxy resin (10), and 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 the underwater robot, which is disclosed in claim 1, is characterized in that the GPS coaxial feeder (7) and the iridium coaxial feeder (8) are penetrated out of a middle hole on an antenna base (6) and directly enter an underwater robot cabin, the middle hole of the antenna base (6) is filled and sealed by epoxy resin, the epoxy resin is solidified to form a base epoxy resin (9), and 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 the underwater robot according to claim 1, wherein the GPS antenna housing (11), the GPS antenna base (14), the iridium antenna housing (17), the antenna adapter (3), the antenna base (6) and the flexible rubber vulcanization section (4) in a direct state after vulcanization are coaxially arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448288.0A CN112563714B (en) | 2020-12-09 | 2020-12-09 | A flexible combined antenna for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011448288.0A CN112563714B (en) | 2020-12-09 | 2020-12-09 | A flexible combined antenna for underwater robot |
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| Publication Number | Publication Date |
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| CN112563714A CN112563714A (en) | 2021-03-26 |
| CN112563714B true CN112563714B (en) | 2025-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011448288.0A Active CN112563714B (en) | 2020-12-09 | 2020-12-09 | A flexible combined antenna for underwater robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119231175B (en) * | 2024-12-02 | 2025-02-25 | 湖南大学无锡智能控制研究院 | Antenna device for wireless communication of underwater robot and underwater robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682019A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Iridium and GPS (Global Positioning System) combined antenna for underwater robot |
| CN213584121U (en) * | 2020-12-09 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Flexible combined antenna for underwater robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2441116B1 (en) * | 2009-06-12 | 2017-05-31 | Rolls-Royce Naval Marine, Inc. | Towed antenna system and method |
| CN110957560B (en) * | 2019-12-28 | 2023-11-21 | 中国科学院沈阳自动化研究所 | A high-voltage flexible combination antenna for underwater robots |
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2020
- 2020-12-09 CN CN202011448288.0A patent/CN112563714B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682019A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Iridium and GPS (Global Positioning System) combined antenna for underwater robot |
| CN213584121U (en) * | 2020-12-09 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Flexible combined antenna for underwater robot |
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| CN112563714A (en) | 2021-03-26 |
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