RU2703558C1 - Underwater vehicle - Google Patents

Abstract

FIELD: vessels and other watercrafts.

SUBSTANCE: invention relates to underwater unmanned telemonitoring apparatus intended for inspection and technological operations carried out in water column. Underwater vehicle comprises body in the form of rectangular parallelepiped, buoyancy unit, process equipment and propellers installed on vertical rotary columns, vertical rotary columns are arranged in internal corners of body of underwater vehicle and are equipped with rotary horizontal drives, to which propellers are connected, at that, the underwater vehicle body has inside the recesses corresponding to the propulsors contours at their parking, besides, the vertical rotary columns are equipped with drives with the possibility of their rotation through the angle of at least 180°, and horizontal drives, to which propellers are attached, have the possibility of turning at least an angle ±90° from initial position corresponding to parking of propellers in niches inside underwater vehicle body.

EFFECT: technical result, obtained during implementation of the claimed invention, consists in simplification of design due to reduction of number of propellers with simultaneous increase of manoeuvrability of underwater vehicle with preservation of possible safe lowering, lifting and docking, that is location of underwater vehicle in dock station.

1 cl, 6 dwg

Description

The invention relates to underwater uninhabited remote-controlled vehicles intended for inspection and technological operations carried out in the water column.

Remote-controlled underwater vehicles consist of a hull, usually in the form of a frame in the form of a parallelepiped, a buoyancy unit, propulsion devices, manipulators and other technological equipment.

Known small-sized remote-controlled underwater vehicle (see, for example, patent RU No. 2387570), containing a modular structure frame, horizontal and vertical propulsion, durable airtight containers to accommodate the electronic part of the underwater vehicle, lights, surveillance and stationary cameras, depth and temperature sensors, pressure compensators, a buoyancy unit installed in the upper part of the underwater vehicle, a manipulation module, including a manipulator equipped with a scope and a sealed drive, the hector is installed on the output shaft of this drive, a surface control module including a control panel, a power supply, a video information display unit, and a communication cable connecting the underwater vehicle to the surface module. A video camera is additionally installed on the other end of the output shaft of the manipulator drive so that its axis of sight is constantly directed to the grip center of the manipulator, the underwater vehicle is equipped with a removable perforated container for collecting samples mounted in the upper part of the underwater vehicle coaxially with its vertical axis, and the overview video camera is installed by bracket above the buoyancy unit in the diametrical plane of the underwater vehicle in its aft. At the same time, this device uses screw propellers to move it, which, in order to avoid damage during lowering and raising the device, is placed inside the protective frame. To provide spatial maneuvers: forward-backward, right-left, up-down, the number of propulsors is increased, and it is 8 pieces.

However, the placement of propulsors inside the contour of the frame of the apparatus worsens the working conditions of the propulsors, reduces the size of the space for the technological equipment of the apparatus, draws onboard pollution inside the frame of the apparatus.

To increase the maneuverability of the apparatus and reduce the number of movers, the proposal to install movers inside the frame on vertical rotary racks or columns is known (see, for example, the website of SPERRE, Norway http://sperre-as.com - prototype). This reduces the number of movers to move in the horizontal plane, but still requires an additional pair of movers to move up and down. For safety during the descent, ascent, and introduction of the underwater vehicle into the docking station, propulsors are placed inside the contour of the vehicle frame. To ensure the inflow of sea water to the propulsors, a discharged arrangement of equipment is used, as a result of which the apparatus has to be increased in size.

The technical result obtained by the implementation of the claimed invention is to simplify the design by reducing the number of propulsion devices while increasing the maneuverability of the underwater vehicle while maintaining the possible safe descent, lifting and docking, i.e. the location of the underwater vehicle in the dock.

The specified technical result is achieved by the fact that in the underwater vehicle containing a body in the form of a rectangular parallelepiped, a buoyancy unit, technological equipment and propulsion devices mounted on vertical rotary columns, vertical rotary columns are located in the inner corners of the underwater vehicle body and are equipped with horizontal rotary drives to which movers are attached, while the body of the underwater vehicle has niches inside that correspond to the contours of the movers when they are parked, in addition vertical swivel columns are equipped with drives with the possibility of turning them at an angle of at least 180 °, and horizontal drives to which the movers are attached have the ability to rotate at least an angle of ± 90 ° from the initial position corresponding to the parking of movers in niches inside the body of the underwater vehicle.

The claimed technical solution is illustrated by drawings, where in FIG. 1 is a front view of the underwater vehicle in the assembled initial state of the propulsors, i.e. during descent, ascent and docking, in FIG. 2 is a side view of the underwater vehicle in the assembled state of the propulsors, FIG. 3 is a front view of an underwater vehicle when moving back and forth, in FIG. 4 is a front view of an underwater vehicle when moving with a “lag,” in FIG. 5 is a front view of an underwater vehicle when moving up and down; in FIG. 6 is a general view of the underwater vehicle.

The underwater vehicle consists of a body 1 in the form of a rectangular parallelepiped, a buoyancy unit 2, and technological equipment 3. In the inner corners of the body 1 of the underwater vehicle, vertical rotary columns 4 are installed, which are equipped with horizontal rotary drives 5 to which movers are connected 6. In the body 1 of the underwater vehicle niches 7 are made, the shape of which corresponds to the contours of the movers 6. The vertical rotary columns 4 are driven by rotary drives 8, providing their rotation, at least Here, 180 ° Horizontal rotary drives 5 provide the rotation of the propulsors 6 at least an angle of ± 90 ° from the initial position corresponding to the parking of the propulsors 6 in the niches 7 inside the housing 1 of the underwater vehicle. Capture 9 is designed to take the underwater vehicle into the dock from the bottom up, when the movers 6 of the underwater vehicle are in the initial state.

The underwater vehicle operates as follows. During the descent, lifting and docking of the underwater vehicle, the vertical rotary columns 4 and the horizontal drives 5 are in the initial position, as shown in FIG. 1 In this case, the movers 6 are led into the niches 7 of the housing 1 so that they do not protrude beyond the contours of the housing 1 of the underwater vehicle. For forward-backward movement, the vertical rotary columns 4 are rotated through an angle of 180 °, while the movers 6 are removed from the niches 7 and extend completely beyond the contours of the underwater vehicle body 1, as shown in FIG. 3. This ensures a free inflow of sea water to the movers 6. Switching the direction of movement is carried out by reversing the movers 6. For the “lag” movement, the vertical rotary columns 4 are rotated 90 ° from the initial position, as shown in FIG. 4. For the up-down movement, the vertical rotary columns 4 are set to the position as for the forward-backward movement, and the horizontal drives 5 are rotated by an angle of ± 90 ° from the initial position, as shown in FIG. 5. Intermediate positions of vertical rotary columns 4, horizontal drives 5 and various ways of turning on the propulsors 6 to create a roll, trim and rotation of the underwater vehicle in place are also possible. Thus, the maximum number of movers 6, providing all the maneuvers of the underwater vehicle, is four, which simplifies the overall design of the underwater vehicle. Before lifting to the dock, the horizontal drives 5 return to their original position and the movers 6 are removed in the niches 7 of the housing 1 of the underwater vehicle.

The proposed placement of the propulsors 6 on the rotary columns 4 and the use of horizontal drives 5 increases the maneuverability of the underwater vehicle, prevents the seawater from being sucked inside the frame of the body 1 of the underwater vehicle, provides better hydrodynamic conditions for their operation and at the same time eliminates their damage during descent, lifting and docking . Also there is the possibility of a denser arrangement of technological equipment inside the frame of the hull 1 of the underwater vehicle and the use of enclosures 1 of a closed type.

Claims (2)

1. An underwater vehicle comprising a body in the shape of a rectangular parallelepiped, a buoyancy unit, processing equipment and propulsors mounted on vertical rotary columns, characterized in that the vertical rotary columns are located in the inner corners of the underwater vehicle body and are equipped with horizontal rotary drives to which the movers are attached , while the body of the underwater vehicle has niches inside that correspond to the contours of the propulsors during their parking. 2. The underwater vehicle according to claim 1, characterized in that the vertical rotary columns are equipped with drives with the ability to rotate them at an angle of at least 180 °, and the horizontal drives to which the movers are attached have the ability to rotate at least an angle of ± 90 ° from the starting position corresponding to the propulsion of movers in niches inside the underwater vehicle body.

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