CN107618643A - A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible - Google Patents
A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible Download PDFInfo
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- CN107618643A CN107618643A CN201710810720.8A CN201710810720A CN107618643A CN 107618643 A CN107618643 A CN 107618643A CN 201710810720 A CN201710810720 A CN 201710810720A CN 107618643 A CN107618643 A CN 107618643A
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Abstract
The invention discloses a kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible, including：Including water tank（1）, pump valve group assembly（3）, detection module and control module（2）；The pump valve group assembly（3）Number be at least one, one port connects with the maritime mouth of submersible, another port and the water tank（1）The injection and discharge of seawater are realized in connection；The detection module and the pump（8）Assembly electrically connects the control module respectively（2）；The signal detected is sent to the control module by the detection module（2）, the control module（2）The pump valve group assembly is controlled according to the signal（3）Keying realize the regulation of buoyancy.The device have the advantages that：The normal buoyancy adjustment work capacities of submersible of dwelling can not only be ensured more, can also ensure that the safety of submersible floats under emergency conditions and reclaim.
Description
Technical field
The invention belongs to submersible technical field, and in particular to a kind of big specific capacity buoyancy adjustment, emergency self-saving integrally fill
Put and submersible.
Background technology
One of the technical way of submersible as human development using ocean, it has also become ocean new and high technology it is important
Forward position.A large amount of submersibles emerge in large numbers in succession, including manned underwater vehicle（HOV）, have cable be remotely controlled unmanned submersible（ROV）And untethered
Autonomous unmanned submersible（AUV）Deng.These submersibles such as AUV, at most awaited orders near Sea Bottom cruise or seat bottom, can not be in sea bed
Upper freedom is motor-driven.And in seabed operation such as crawler type ROV the umbilical cables water surface can be needed to power, therefore not yet occur in the world at present
Have the type submersibles of dwelling for function of being swum in thalassogenic movement and water concurrently more.
Buoyancy adjustment is one of the key technology of type submersible of dwelling more, and realizes that the submersible water surface, underwater and seabed are more
Dwell the important technical basis of motion.Under typical seabed conditions, forward driving force and the sea bed of submersible thalassogenic movement are pressurized
Power is directly related, and the pressure comes from negative buoyancy force of the submersible in seabed.Therefore, buoyancy adjustment ability directly affects submersible
Mobility in seabed.
The defects of buoyancy regulating system or device of the prior art are present is mainly reflected in：
1. buoyancy adjustment ratio is too small：By taking " flood dragon " number manned underwater vehicle as an example, 22 tons of weight in its air, buoyancy adjustment amount for ±
150kg, buoyancy adjustment is than being only ± 0.68%.And typical " Spray " underwater glider in the U.S., weight 51kg in its air, float
Power regulated quantity is ± 0.45kg, and buoyancy adjustment is than being only ± 0.88%.
2. regulative mode relatively falls behind：The submersible buoyancy regulating system developed both at home and abroad at present mainly has from working forms
Throw three kinds of load, oil sac and water injection forms.Carried by fixed throw, the buoyancy control precision that submersible mitigates deadweight is poor, and mistake
Journey is irreversible.The buoyancy adjustment amount of oil sac formula is smaller, and oil sac volume is also restrained.And height is easily achieved by pump water injection
The Large Copacity buoyancy control of precision, be can be recycled, conventional by large-scale manned underwater vehicle, but the unidirectional pump of generally use is carried out
Water injection.This mode needs to be commutated by magnetic valve or hydraulic circuit manipulation valve, increases buoyancy regulating system
Integrated difficulty.
3. mounting arrangements are cumbersome：Conventional diving device is mostly horizontal vertical vertical 3 D arrangement space, bathysphere
Belong to special-shaped space between interior ectosphere, the mounting arrangements of buoyancy regulating device have difficulties.In addition, for dwelling submersible in water more
The work pattern for neutralizing seabed has the characteristics of repeating to switch, therefore buoyancy regulating device must can be repeated several times use, practicality
Reliably, rigors are proposed to its engineering design and application performance.
4. design of saving oneself is unreasonable：Under in seabed catastrophe failure or emergency condition occur for amphibious type submersible, by solid
The fixed modes such as load of throwing are difficult to ensure that whole submersible departs from from seabed.This mode stability of saving oneself is poor and irreversible, can not
Accomplish the purpose efficiently reused.
In summary, in order to meet the job requirement of submersible, more preferable buoyancy adjustment ability is not only needed to have, and
It is contemplated that exceedingly odious condition, in the case where submersible can not integrally get rid of poverty in seabed, ensures being close to for submersible
Receive.
The content of the invention
It is an object of the invention to overcome deficiency of the prior art, there is provided a kind of big specific capacity buoyancy adjustment, meet an urgent need certainly
Integrated device and submersible are rescued, the normal buoyancy adjustment work capacities of submersible of dwelling can not only be ensured more, also can be emergent
In the case of ensure submersible safety float recovery.
To solve prior art problem, the invention discloses a kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device,
Including water tank, pump valve group assembly, detection module and control module；
The number of pump valve group assembly is at least one, one port connects with the maritime mouth of submersible, another port with
Water tank connects the injection and discharge for realizing seawater；Detection module and pump assembly electrically connect control module respectively；Detection module will
The signal detected is sent to control module, and control module realizes the tune of buoyancy according to the keying of signal controlling machine pump valve group assembly
Section.
Further, pump valve group assembly includes the first sequence valve, the first check valve, the second sequence valve, the second check valve
And pump；Sequentially couple the first sequence valve, pump and the second sequence valve between maritime mouth and water tank, the first sequence valve and with second
Sequence valve is oppositely arranged each other；First check valve is reversely connected in the both ends of the first sequence valve, and the second check valve is reversely connected in
The both ends of second sequence valve；Pump electrically connects control module.
Further, detection module includes temperature sensor and baroceptor；Temperature sensor and baroceptor
Test side is arranged in water tank, its output end electrically connects control module.
Further, the number of pump valve group assembly is two, and is set in a symmetrical.
Further, in addition to source of the gas, the first magnetic valve and second solenoid valve；First magnetic valve is distinguished with second solenoid valve
Control module is electrically connected, water tank connects source of the gas by the first magnetic valve, connects maritime mouth by second solenoid valve.
Further, in addition to safety valve, safety valve are connected between source of the gas and the first magnetic valve.
Further, in addition to stop valve, stop valve are connected between source of the gas and the first magnetic valve.
Further, in addition to pressure gauge and gas-charging connection；Pressure gauge and gas-charging connection may be contained within the exit of source of the gas
Or close to the position of outlet.
Further, source of the gas includes one or more gas cylinders being in series.
The invention also discloses a kind of submersible, including above-mentioned big specific capacity buoyancy adjustment, emergency self-saving integrated device.
The device have the advantages that：
1. the buoyancy adjustment ability of big specific capacity：By the application on bathysphere, enough bottom pulls can be obtained
Power, and show under the conditions of confined space weight constraints with up to more than 10% big specific capacity regulating power considerably beyond current
The most of submersibles having, so as to meet submersible in floating on water, the underwater mobile and water-bed requirement rolled.
2. high-voltage bidirectional pump water injection：Seawater flow direction is not changed by kingston valve group, so as to simplify kingston valve
The structure of group, pump, seawater valve group and pressure compensator are designed integrally, both met miniaturization, integrated design is wanted
Ask, enhance the ease for maintenance of system again, there is technical advance and novelty, the buoyancy adjustment of similar underwater kit is designed
With important reference value.
3. special-shaped seawater ballast tank design and integrated device syntype arrangement：Will according to the general arrangement for bathysphere of dwelling more
Ask, buoyancy adjustment and emergency self-saving device can only be arranged in arc space between the narrow and small, ball between ectosphere and interior ball.Pass through abnormal shape
Pressure vessel and seawater pressure impact the research of mechanism etc., and the design that the present invention proposes a kind of pressure-resistant water tank of annular is thought
Road, pump, seawater valve group and pressure compensator are designed integral.Meanwhile buoyancy regulating device uses two sets of independent pumps
Valve group, raising reliability can be both mutually redundant, can also reduce single size, be easy to integrated installation.
4. the emergency self-saving of seawater ballast tank is shared with buoyancy adjustment：The present invention blows down answering for ballast water using based on high pressure
Anxious recovery scheme, with reference to the ballast water circulation system of the normal buoyancy adjustment of submersible, have Project Realization difficulty is small, cost is low,
The high outstanding advantages of reliability, while save the device space and weight.Meanwhile pass through system power supply and self-contained emergency source of electrical power
Redundant power supply, it is ensured that the reliability of emergency self-saving system.
Brief description of the drawings
Fig. 1 is the structural front view of a preferred embodiment of the invention；
Fig. 2 is the structure upward view of embodiment illustrated in fig. 1；
Fig. 3 is the connection diagram of embodiment illustrated in fig. 1；
Fig. 4 is the structural front view of emergency self-saving in embodiment illustrated in fig. 1；
Fig. 5 is the structure top view of emergency self-saving in embodiment illustrated in fig. 1；
Fig. 6 is the connection diagram of emergency self-saving in embodiment illustrated in fig. 1.
Reference：
1 water tank；2 control modules；3 pump valve group assemblies；4 first sequence valves；5 first check valves；6 second sequence valves；7 second is single
To valve；8 pumps；9 baroceptors, 10 pressure gauges；11 temperature sensors；12 gas cylinders；13 first magnetic valves；14 second electromagnetism
Valve；15 safety valves；16 stop valves；17 gas-charging connections；18 filters.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
Big specific capacity buoyancy adjustment described in the present invention, emergency self-saving integrated device can be widely applied to different type
Submersible, be particularly suitable for use in a kind of spherical submersibles of dwelling more（Hereinafter referred to as submersible）, the structure of the submersible is recorded in Shen
Please be number for " 2017100372135 ", entitled " a kind of rolling into based on built-in driving principle swim hybrid submersible of dwelling " more
Patent application publication text in, the buoyancy regulating device in the present invention is described in detail below in conjunction with the submersible.
As shown in Figures 1 to 6, a kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device, it is arranged at the outer spherical shell of submersible
In space between interior spherical shell, it includes water tank 1, pump valve group assembly 3, filter 18, detection module and control module 2.
Because the interior spherical shell of submersible is shaped as spherical and has a maritime mouth, therefore the section that is shaped as of water tank 1 is
Circular circular hollow-core construction body, it is fixed around the equator one of interior spherical shell circle, and water tank 1 uses the corrosion resistant material system of high intensity
Into there is preferable pressure-resistant antiseptic property, improve underwater working life.
The number of pump valve group assembly 3 be two and be arranged in a manner of axial symmetry or Central Symmetry the both sides of interior spherical shell with
Reach and save space, be easily installed purpose with adjustment.Pump valve group assembly 3 can be all turned on also individually opening, often
Individual pump valve group assembly 3 includes the first sequence valve 4, the first check valve 5, the second sequence valve 6, the second check valve 7 and pump 8.It is logical
Sequentially couple filter 18, the first sequence valve 4, the sequence valve 6 of pump 8 and second between Haikou and water tank 1；The He of first sequence valve 4
Second sequence valve 6 is oppositely arranged each other, and with this in water filling or draining, one of them is opened and another is closed.
The both ends that first check valve 5 is reversely connected in the first sequence valve 4 form the first balanced valve, and the second check valve 7 is reverse
The both ends for being connected in the second sequence valve 6 form the second balanced valve.Pump 8 electrically connects control module 2.During water filling, seawater passes through successively
Cross the first check valve 5, the sequence valve 6 of pump 8 and second enters water tank 1；Because the second sequence valve 6 is opened and cause a part of seawater
Sluice salty to enter to return in water filling water route through it.During draining, seawater is successively by the second check valve 7, the sequence valve of pump 8 and first
The 4 maritime mouths of discharge；A part of seawater is caused to sluice salty to enter to return in draining water route through it because the first sequence valve 4 is opened.
The pressure loss in working depth and pipeline in view of submersible, design maximum output pressure be submersible most
1.25 times of big working depth pressure.At when the pressure difference of the control terminal of first sequence valve 4 and the second sequence valve 6 is more than 0.5 MPa
In opening.Filter 18 can effectively stop that silt in water body, rubbish, plankton etc. enter in pipeline, avoid shadow
Ring the normal operation of device.
Detection module includes temperature sensor 11 and baroceptor 9；The detection of temperature sensor 11 and baroceptor 9
End may be contained within water tank 1, its output end electrically connects control module 2.Baroceptor 9 and temperature sensor 11 respectively will inspections
The pressure signal in water tank 1 and temperature signal measured is sent to control module 2.Due to the quality and water tank 1 of submersible
Volume is steady state value, therefore control module 2 goes out the volume of air in water tank 1 according to the pressure and temperature signal of change detected
So as to which inverse goes out the volume of seawater, the operation of pump 8 is controlled accordingly so as to realize the accurate adjustment to buoyancy needed for submersible.
In order to realize submersible when breaking down can emergency self-saving and on climbing up on top of the water automatically, big specific capacity buoyancy is adjusted
Section, emergency self-saving integrated device also include source of the gas, the first magnetic valve 13 and second solenoid valve 14.
Source of the gas includes one or more and is in series and fills the gas cylinder 12 of gases at high pressure.First magnetic valve 13 and the second electromagnetism
Valve 14 electrically connects control module 2 respectively, and water tank 1 connects gas cylinder 12 by the first magnetic valve 13, connected by second solenoid valve 14
Maritime mouth.
In order to realize safe operation, big specific capacity buoyancy adjustment, emergency self-saving integrated device also include safety valve 15, safety
Valve 15 is connected in the gas circuit between source of the gas and the first magnetic valve 13, and the effect of safety valve is to prevent that source of the gas internal pressure is too high,
Can outwards it be vented automatically more than setting pressure.
Big specific capacity buoyancy adjustment, emergency self-saving integrated device also include stop valve 16, stop valve 16 be connected in source of the gas with
In gas circuit between first magnetic valve 13.The effect of stop valve is to maintain one-way flow of the source of the gas to water tank, prevents high pressure gas from returning
Stream.
Big specific capacity buoyancy adjustment, emergency self-saving integrated device also include pressure gauge 10 and gas-charging connection 17；Pressure gauge 10
The exit of source of the gas is may be contained within gas-charging connection 17 or close to the position of outlet.Gas cylinder 12 is reusable, when deflation finishes
Need inflation when, by gas-charging connection 17 connect external air source be inflated, pressure gauge 10 can Real Time Observation the blowing pressure with
And judge degree of inflation.
The operation principle and process of buoyancy adjustment
When needing reduction buoyancy to realize submersible dive, pump 8 starts setting under the control of control module 2 and just switchs to note
Water, because the operation of pump 8 causes the control terminal pressure difference of the second sequence valve 6 to exceed setting value and opens the second sequence valve 6, this
Shi Haishui enters through maritime mouth, enters successively by filter 18, the first check valve 5, pump 8, the second sequence valve 6 in water tank 1
Make the weight of submersible increase, in the process, control module 2 calculates current buoyancy value so as to control by temperature and air pressure
Pump 8 is closed when reaching required buoyancy value.
In contrast to this, when needing increase buoyancy to realize that submersible floats, pump 8 inverts, because the operation of pump 8 is led
The control terminal pressure difference of the first sequence valve 4 is caused to exceed setting value and open the first sequence valve 4, now seawater is single by second successively
To valve 7, pump 8, the first sequence valve 4, filter 18, the discharge of maritime mouth, reduce the weight of submersible, in the process, control
Molding block 2 calculates current buoyancy value so as to control pump 8 to be closed when reaching required buoyancy value by temperature and air pressure.
The operation principle and process of emergency self-saving
When submersible, which breaks down, to be needed to climb up on top of the water upper, control module 2, which sends control instruction, makes the first magnetic valve 13 and
Two magnetic valves 14 are opened, and now the gases at high pressure in gas cylinder 12 quickly enter in water tank 1 and arrange the seawater in it from maritime mouth
Go out so that the buoyancy of submersible increases and floated on the water surface rapidly in a short time.
In the present invention, big specific capacity buoyancy adjustment, emergency self-saving integrated device can be powered by submersible internal electric source, also may be used
By independent emergency power supply redundant power supply guarantee, when breaking down, the first magnetic valve 13 and second solenoid valve 14 can be just
Often open and close.Circuit connection uses watertight cable, and water route or gas circuit connection use resistance to pressure pipe or resistance to air pipe.Due to work
Medium is seawater, therefore preservative treatment is done on the surface of associated components.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device, it is characterised in that：Including water tank（1）, pump valve group it is total
Into（3）, detection module and control module（2）；
The pump valve group assembly（3）Number be at least one, one port connects with the maritime mouth of submersible, another
Port and the water tank（1）The injection and discharge of seawater are realized in connection；The detection module and the pump（8）Assembly is electric respectively
Couple the control module（2）；The signal detected is sent to the control module by the detection module（2）, the control
Module（2）The pump valve group assembly is controlled according to the signal（3）Keying realize the regulation of buoyancy.
2. a kind of big specific capacity buoyancy adjustment according to claim 1, emergency self-saving integrated device, it is characterised in that：Institute
State pump valve group assembly（3）Including the first sequence valve（4）, the first check valve（5）, the second sequence valve（6）, the second check valve（7）
And pump（8）；The maritime mouth and the water tank（1）Between sequentially couple first sequence valve（4）, pump（8）With second
Sequence valve（6）, first sequence valve（4）With with the second sequence valve（6）It is oppositely arranged each other；First check valve（5）Instead
To being connected in first sequence valve（4）Both ends, second check valve（7）Reversely it is connected in second sequence valve（6）
Both ends；The pump（8）Electrically connect the control module（2）.
3. a kind of big specific capacity buoyancy adjustment according to claim 1, emergency self-saving integrated device, it is characterised in that：Institute
Stating detection module includes temperature sensor（11）And baroceptor（9）；The temperature sensor（11）With the air pressure sensing
Device（9）Test side be arranged at the water tank（1）In, its output end electrically connect the control module（2）.
4. a kind of big specific capacity buoyancy adjustment according to claim 1, emergency self-saving integrated device, it is characterised in that：Institute
State pump valve group assembly（3）Number be two, and set in a symmetrical.
5. a kind of big specific capacity buoyancy adjustment according to any one of claims 1 to 4, emergency self-saving integrated device, its feature
It is：Also include source of the gas, the first magnetic valve（13）And second solenoid valve（14）；First magnetic valve（13）With the described second electricity
Magnet valve（14）The control module is electrically connected respectively（2）, the water tank（1）Pass through first magnetic valve（13）Connect the gas
Source, pass through the second solenoid valve（14）Connect the maritime mouth.
6. a kind of big specific capacity buoyancy adjustment according to claim 5, emergency self-saving integrated device, it is characterised in that：Also
Including safety valve（15）, the safety valve（15）It is connected in the source of the gas and first magnetic valve（13）Between.
7. a kind of big specific capacity buoyancy adjustment according to claim 5, emergency self-saving integrated device, it is characterised in that：Also
Including stop valve（16）, the stop valve（16）It is connected in the source of the gas and first magnetic valve（13）Between.
8. a kind of big specific capacity buoyancy adjustment according to claim 5, emergency self-saving integrated device, it is characterised in that：Also
Including pressure gauge（10）And gas-charging connection（17）；The pressure gauge（10）With the gas-charging connection（17）It may be contained within the source of the gas
Exit or close to the outlet position.
9. a kind of big specific capacity buoyancy adjustment according to claim 5, emergency self-saving integrated device, it is characterised in that：Institute
Stating source of the gas includes one or more gas cylinders being in series（12）.
A kind of 10. submersible, it is characterised in that：Including a kind of big specific capacity buoyancy adjustment as claimed in claim 1, meet an urgent need certainly
Rescue integrated device.
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| CN201710810720.8A CN107618643A (en) | 2017-09-11 | 2017-09-11 | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible |
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| CN201710810720.8A CN107618643A (en) | 2017-09-11 | 2017-09-11 | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible |
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Cited By (11)
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|---|---|---|---|---|
| CN108983822A (en) * | 2018-08-20 | 2018-12-11 | 西南石油大学 | A kind of depth adjustment control system of storage tank on-line checking robot |
| CN108974294A (en) * | 2018-07-28 | 2018-12-11 | 华中科技大学 | A kind of buoyancy regulating system based on two-way sea water pump |
| CN110127011A (en) * | 2019-05-20 | 2019-08-16 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of submersible underwater emergency deliverance apparatus |
| CN110745224A (en) * | 2019-10-17 | 2020-02-04 | 中国船舶重工集团公司第七0七研究所九江分部 | Automatic pressurization control method applied to control system of rapid floating danger-escaping device |
| CN110901866A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| WO2020169376A1 (en) * | 2019-02-19 | 2020-08-27 | Thyssenkrupp Marine Systems Gmbh | Buoyancy modification module for a modular underwater vehicle |
| CN112357029A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Buoyancy adjusting system for submarine submersible vehicle to reside on seabed |
| CN112849376A (en) * | 2021-03-30 | 2021-05-28 | 北京机电工程研究所 | Buoyancy adjusting device and diving equipment with same |
| CN113184151A (en) * | 2021-06-03 | 2021-07-30 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
| CN114475991A (en) * | 2018-10-12 | 2022-05-13 | 上海彩虹鱼深海装备科技有限公司 | Submersible |
| CN116552725A (en) * | 2023-07-10 | 2023-08-08 | 中国空气动力研究与发展中心空天技术研究所 | Buoyancy adjusting device and semi-submersible type transportation platform |
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| CN108974294B (en) * | 2018-07-28 | 2023-09-29 | 华中科技大学 | Buoyancy adjusting system based on two-way sea water pump |
| CN108983822B (en) * | 2018-08-20 | 2021-08-10 | 西南石油大学 | Depth adjusting control system of storage tank online detection robot |
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| WO2020169376A1 (en) * | 2019-02-19 | 2020-08-27 | Thyssenkrupp Marine Systems Gmbh | Buoyancy modification module for a modular underwater vehicle |
| CN110127011A (en) * | 2019-05-20 | 2019-08-16 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of submersible underwater emergency deliverance apparatus |
| CN110127011B (en) * | 2019-05-20 | 2020-05-08 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater emergency rescue device for submersible |
| CN110745224A (en) * | 2019-10-17 | 2020-02-04 | 中国船舶重工集团公司第七0七研究所九江分部 | Automatic pressurization control method applied to control system of rapid floating danger-escaping device |
| CN110901866A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| CN110901866B (en) * | 2019-11-28 | 2021-09-28 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| CN112357029A (en) * | 2020-11-17 | 2021-02-12 | 江苏科技大学 | Buoyancy adjusting system for submarine submersible vehicle to reside on seabed |
| CN112849376A (en) * | 2021-03-30 | 2021-05-28 | 北京机电工程研究所 | Buoyancy adjusting device and diving equipment with same |
| CN113184151A (en) * | 2021-06-03 | 2021-07-30 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
| CN116552725A (en) * | 2023-07-10 | 2023-08-08 | 中国空气动力研究与发展中心空天技术研究所 | Buoyancy adjusting device and semi-submersible type transportation platform |
| CN116552725B (en) * | 2023-07-10 | 2023-10-13 | 中国空气动力研究与发展中心空天技术研究所 | Buoyancy adjusting device and semi-submersible type transportation platform |
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