CN104670444A - One-way buoyancy regulation device used for autonomous underwater vehicle - Google Patents
One-way buoyancy regulation device used for autonomous underwater vehicle Download PDFInfo
- Publication number
- CN104670444A CN104670444A CN201310639466.1A CN201310639466A CN104670444A CN 104670444 A CN104670444 A CN 104670444A CN 201310639466 A CN201310639466 A CN 201310639466A CN 104670444 A CN104670444 A CN 104670444A
- Authority
- CN
- China
- Prior art keywords
- leather bag
- pressure
- cabin
- autonomous underwater
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Filling Or Discharging Of Gas Storage Vessels (AREA)
- Treatment And Processing Of Natural Fur Or Leather (AREA)
Abstract
The invention relates to a matched device of an autonomous underwater vehicle, in particular to a one-way buoyancy regulation device used for the autonomous underwater vehicle. The one-way buoyancy regulation device comprises a buoyancy material outer cover, an outer leather bag cabin, leather bags, a control cabin pressure-resistant shell, a control valve, a pressure-resistant cabin side end cover and a pressure-resistant cabin shell. The outer leather bag cabin, the control cabin pressure-resistant shell, the pressure-resistant cabin side end cover and the pressure-resistant cabin shell are sequentially connected and wrapped by the buoyancy material outer cover. The leather bags are arranged in the outer leather bag cabin and the pressure-resistance cabin shell respectively. A water passing hole is formed in the outer leather bag cabin. A control valve is installed in the control cabin pressure-resistant shell and communicated with the two leather bags. The control valve controls the oil flowing direction between the two leather bags through the autonomous underwater vehicle. The oil in the leather bag in the outer leather bag cabin flows into the leather bag in the pressure-resistant cabin shell. The buoyancy is regulated according to the changes of the size of the leather bag in the outer leather bag cabin. Trimming can be conducted through one-time submerging, and the optimized trimming of the heavy buoyancy can be achieved without conducting extra trimming operation.
Description
Technical field
The present invention relates to the corollary equipment of Autonomous Underwater aircraft, specifically a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft.
Background technology
Deep-sea Autonomous Underwater aircraft is a kind of underwater platform relying on the self-contained energy to carry out autonomous navigation, can complete the various detection missions of deep seafloor resource and the energy, have important value.Because diving of deep-sea Autonomous Underwater aircraft is dark large, when the large basin of the unknown navigates by water, along with the increase of diving depth, the buoyancy of Autonomous Underwater aircraft can become large gradually, and this can affect the performance that Autonomous Underwater aircraft is navigated by water large basin greatly; And the recruitment of buoyancy and different status of the water area and the degree of depth are correlated with.Large dark Autonomous Underwater aircraft of diving, for dive greatly the deep investigation initial stage, needs according to concrete marine site and the latent optimization trim deeply carrying out heavy buoyancy.Because aircraft composition material under large deep-water submersible is various and the form of pressure-resistant cabin is different, and the uncertainty of different navigation waters hydrological environment, the different keel depth trim amount of accurate Calculation is very difficult, therefore needs to carry out trim for different submerged depth before the test; And under the abyssal environment of ocean, trim process is very consuming time and difficult.At present, general adopt a point dive trim several times, the method progressively improving submerged depth and progressively increase trim lead reaches the object that desired depth optimization is navigated by water.2 ~ 3 dives are generally needed just to can be implemented in the optimization trim of desired depth.Because keel depth is large, dive and floating operating process implementation cycle long and relative difficulty, poor sensitivity, at substantial manpower and materials, therefore, reducing Autonomous Underwater aircraft dive trim number of times and improving trim quality has important practical significance.
Summary of the invention
The object of the present invention is to provide a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft.This unidirectional buoyancy regulating device is arranged in the main body of Autonomous Underwater aircraft, do not need to consume the energy in Autonomous Underwater aircraft in a large number, just the buoyancy in the unidirectional reduction aircraft of predetermined keel depth can be realized, make aircraft reach optimum heavy buoyant equilibrium state in the predetermined work degree of depth, and then Autonomous Underwater aircraft can be made under this degree of depth to complete inter-related task; This unidirectional buoyancy regulating device is for large dark Autonomous Underwater aircraft of diving, and when unknown marine site and different depth navigation, a dive gets final product trim, does not need to carry out extra trim operation, just can realize the optimization trim of heavy buoyancy.
The object of the invention is to be achieved through the following technical solutions:
The present invention is arranged in Autonomous Underwater aircraft, comprise buoyancy material outer cover, outer leather bag cabin, leather bag, control cabinet pneumatic shell, control cock, pressure-resistant cabin side end cap and pressure-resistant cabin housing, wherein outer leather bag cabin, control cabinet pneumatic shell, pressure-resistant cabin side end cap are connected successively with pressure-resistant cabin housing, and by described buoyancy material outer cover parcel, respectively leather bag is housed in described outer leather bag cabin and pressure-resistant cabin housing, this outer leather bag cabin has limber hole; Described control cock is arranged in control cabinet pneumatic shell, is connected respectively with outer leather bag cabin with the leather bag in pressure-resistant cabin housing, and this control cock controls the flow direction of oil between two leather bags by described Autonomous Underwater aircraft; Seawater enters in outer leather bag cabin by described limber hole, and the fluid in described outer leather bag cabin in leather bag flows in the leather bag in pressure-resistant cabin housing, is carried out the adjustment of buoyancy by the change of the leather bag volume in outer leather bag cabin.
Wherein: described buoyancy material outer cover is arranged in Autonomous Underwater aircraft by being connected and fixed plate, on outer leather bag cabin and pressure-resistant cabin housing, cover has and the described coupling link being connected and fixed plate and being connected respectively; The described one end in outer leather bag cabin and one end of control cabinet pneumatic shell are tightly connected, and described limber hole is opened in the other end in outer leather bag cabin; Be provided with the outer oil sac outlet gland being arranged on control cabinet pneumatic shell one end in leather bag in described outer leather bag cabin, this outer oil sac outlet gland has logical oil groove; Described outer oil sac outlet gland is spherical crown shape; Described control cabinet pneumatic shell has the tapped bore that be threaded hydraulic fluid port throttling unit and outlet block head, wherein the both sides of hydraulic fluid port throttling unit are connected with described logical oil groove and described control cock respectively by oil circuit, the oil circuit between hydraulic fluid port throttling unit and logical oil groove are provided with plug-in mounting check valve; The tapped bore that described outlet blocks a place is connected with the oil circuit between hydraulic fluid port throttling unit and plug-in mounting check valve by oil circuit, and fluid, by refluxing in the leather bag in the outside leather bag cabin of this tapped bore, is provided with spring and containment member in described tapped bore;
Described control cabinet pneumatic shell is sealed and installed with the oil-filled shell of line outlet, one end of socket is inserted in control cabinet pneumatic shell by the oil-filled shell of this line outlet, the other end is positioned at the groove of the oil-filled shell of line outlet, and the line outlet end cap seal parcel by being arranged on the oil-filled shell top of line outlet;
One end of described pressure-resistant cabin housing is connected with control cabinet pneumatic shell by pressure-resistant cabin side end cap, the other end has external pressure table interface and external inflation mouth, and described external pressure table interface and external inflation mouth outside are provided with the seal closure be arranged on the pressure-resistant cabin housing other end; Leather bag in described pressure-resistant cabin housing is provided with internal insulation spherical shell in one end of pressure-resistant cabin side end cap, and the leather bag in pressure-resistant cabin housing is attached in the gabarit of described internal insulation spherical shell when shrinking; Described internal insulation spherical shell inside is provided with the anti-jet baffle plate be arranged on pressure-resistant cabin side end cap; The internal pressure table detecting pressure-resistant cabin enclosure interior gaseous tension is provided with in described control cabinet pneumatic shell.
Advantage of the present invention and good effect are:
1. the present invention adopts the principle reducing displacement to control buoyancy when Autonomous Underwater aircraft is navigated by water at deep-sea, the buoyancy trim accurately carrying out desired depth after carrying when unknown marine site or different depth maiden trip can be completed, navigation detection can be carried out after trim, and conveniently can read the trim amount of desired depth, then dismantle after the present invention, carried out the optimization trim of Autonomous Underwater aircraft by this trim last time amount, avoid the repeatedly trim under unknown marine site and the degree of depth to operate.
2. the present invention is the module of a functional independence, relies on and is connected and fixed plate and is connected with Autonomous Underwater aircraft main body by screw, thus connection between the present invention with Autonomous Underwater aircraft be separated very convenient, reliable, be convenient to Assembly &Disassembly.
3. the present invention offers tapped bore on control cabinet pneumatic shell, hydraulic fluid port throttling unit and outlet block head and are placed in tapped bore, spring and containment member is also had inside the tapped bore that its middle outlet blocks a place, under the action of the spring, containment member meeting automatic-sealed, can not reveal with the fluid that this ensures in leather bag; Outlet blocks head and can be screwed in tapped bore under normal conditions, only has when fluid needs playback, just needs to remove outlet and block head.
4. external pressure table interface and external inflation mouth two interfaces pressure-resistant cabin housing of the present invention have been installed, the initial gas pressure of pressure-resistant cabin enclosure interior can be controlled by these two interfaces, the real-time pressure obtaining pressure-resistant cabin enclosure interior can be measured by internal pressure sensor, air pressure rising after in the leather bag that the fluid in the leather bag in outer leather bag cabin flows in pressure-resistant cabin housing, by the force value of internal pressure sensor and the temperature value of this bulk measurement of Autonomous Underwater aircraft, the buoyancy adjustment amount of buoyancy regulating system can be gone out by Accurate Estimation, achieve the accurate control of buoyancy adjustment.
Accompanying drawing explanation
Fig. 1 is the structural representation having installed Autonomous Underwater aircraft of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is inner structure cutaway view of the present invention;
Fig. 4 is the partial enlarged drawing at I place in Fig. 3;
Fig. 5 is the close-up schematic view of control cabinet part of the present invention;
Fig. 6 is Hydraulic System Principle schematic diagram of the present invention;
Wherein: 1 is buoyancy material outer cover, 2 for being connected and fixed plate, 3 is hydraulic fluid port throttling unit, 4 is coupling link, 5 is outer leather bag cabin, 6 is leather bag, 7 is line outlet end cap, 8 is the oil-filled shell of line outlet, 9 is pressure-resistant cabin side end cap, 10 is internal insulation spherical shell, 11 is pressure-resistant cabin housing, 12 is screw, 13 is seal ring, 14 block head for outlet, 15 is outer oil sac outlet gland, 16 is socket, 17 is two position two-way valve, 18 is control cabinet pneumatic shell, 19 is electronic unit, 20 is plug-in mounting check valve, 21 is limber hole, 22 is external pressure table interface, 23 is external inflation mouth, 24 is the first oil return bypass interface, 25 is the second oil return bypass interface, 26 is internal pressure table, 27 is submarine navigation device, 28 is anti-jet baffle plate, 29 is logical oil groove, 30 is seal closure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, the entirety of unidirectional buoyancy regulating device of the present invention is fixed in Autonomous Underwater aircraft 27 by being connected and fixed plate 2.As shown in figures 1-4, the present invention includes buoyancy material outer cover 1, outer leather bag cabin 5, leather bag 6, control cabinet pneumatic shell 18, control cock, pressure-resistant cabin side end cap 9 and pressure-resistant cabin housing 11, control cock of the present invention is two position two-way valve 17; Being connected and fixed plate 2 is fixed in Autonomous Underwater aircraft 27 by screw 12; buoyancy material outer cover 1 is fixed on by screw 12 and is connected and fixed on plate 2; the inner structure of the unidirectional buoyancy regulating device of the present invention is wrapped in by outer leather bag cabin 5, pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18; outer leather bag cabin 5, pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18 are wrapped in by buoyancy outer cover 1 again, play certain protective effect.Outer leather bag cabin 5, control cabinet pneumatic shell 18, pressure-resistant cabin side end cap 9 are connected successively with pressure-resistant cabin housing 11, on outer leather bag cabin 5 and pressure-resistant cabin housing 11, cover has coupling link 4 respectively, and outer leather bag cabin 5 and pressure-resistant cabin housing 11 are fixed on respectively by coupling link 4 and are connected and fixed on plate 2.Buoyancy material of the present invention is prior art, is micro glass bead and epoxy resin composite material.
The one end in outer leather bag cabin 5 and one end of control cabinet pneumatic shell 18 are tightly connected, and the other end has limber hole 21, and seawater enters in outer leather bag cabin 5 by limber hole 21; Leather bag 6 is provided with outside in leather bag cabin 5; the outer oil sac outlet gland 15 being fixed in control cabinet pneumatic shell 18 one end end face is provided with in leather bag 6 in outer leather bag cabin 5; the shape of this outer oil sac outlet gland 15 is spherical crown shape; leather bag 6 in external leather bag cabin 5 shields; the gland 15 of oil sac outlet outside has logical oil groove 29, and the fluid in the leather bag 6 in outer leather bag cabin 5 can be flowed out by this logical oil groove 29.
One end of pressure-resistant cabin housing 11 is connected with the other end of control cabinet pneumatic shell 18 by pressure-resistant cabin side end cap 9, the other end of pressure-resistant cabin housing 11 has external pressure table interface 22 and external inflation mouth 23, external pressure table interface 22 is for connecing pressure sensor, measure the pressure of the inner fluid of leather bag 6 in pressure-resistant cabin housing 11, external inflation mouth 23 communicates with air, when the leather bag 6 in outer leather bag cabin 5 needs oil return, can by inflating in the cabin of pressure-resistant cabin housing 11, in the leather bag 6 that the fluid in the leather bag 6 of pressure-resistant cabin housing 11 inside can be made to flow back in outer leather bag cabin 5.Pressure-resistant cabin side end cap 9 seals respectively by seal ring 13 and pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18 phase, prevents seawater from entering.The outside of external pressure table interface 22 and external inflation mouth 23 is provided with and seals by screw 12 and seal ring 13 seal closure 30 be arranged on pressure-resistant cabin housing 11 other end.Leather bag 6 is provided with in pressure-resistant cabin housing 11, leather bag 6 is provided with internal insulation spherical shell 10 in one end of pressure-resistant cabin side end cap 9, the profile of this internal insulation spherical shell 10 is spherical in shape, leather bag 6 in pressure-resistant cabin housing 11 can be attached in the gabarit of internal insulation spherical shell 10 when shrinking, and shields to leather bag 6; Meanwhile, the inside of internal insulation spherical shell 10 is also provided with an anti-jet baffle plate 28 be arranged on pressure-resistant cabin side end cap 9, and the leather bag 6 in protection pressure-resistant cabin housing 11 is not by the impact of high-voltage high-speed fluid.
Two position two-way valve 17 and electronic unit 19 is respectively equipped with in control cabinet pneumatic shell 18, two position two-way valve 17 is connected with the leather bag 6 in pressure-resistant cabin housing 11 with outer leather bag cabin 5 respectively, electronic unit 19 is connected with Autonomous Underwater aircraft 27, controls the commutation of two position two-way valve 17; Electronic unit 19 of the present invention is prior art.Control cabinet pneumatic shell 18 has the tapped bore that be threaded hydraulic fluid port throttling unit 3 and outlet block 14, wherein the both sides of hydraulic fluid port throttling unit 3 are connected with logical oil groove 29 and two position two-way valve 17 respectively by oil circuit, by changing the hydraulic fluid port throttling unit 3 in different inner aperture, can be controlled in the flow velocity of fluid in the leather bag 6 in the outer leather bag cabin 5 of desired depth, reach the object that flow is controlled; Oil circuit between hydraulic fluid port throttling unit 3 and logical oil groove 29 is provided with plug-in mounting check valve 20, this plug-in mounting check valve 20 controls fluid can only flow to two position two-way valve 17 from logical oil groove 29.Outlet is blocked a tapped bore at 14 places and is connected with the oil circuit between hydraulic fluid port throttling unit 3 and plug-in mounting check valve 20 by oil circuit, as shown in Figure 6, when refluxing during fluid is by the leather bag 6 in the outside leather bag cabin 5 of this tapped bore, outlet is blocked 14 to take away, and be back in the leather bag 6 in outer leather bag cabin 5 by the first oil return bypass interface 24 and the second oil return bypass interface 25; Outlet blocks in a tapped bore at 14 places and is provided with spring and containment member, can play the effect of check valve.Control cabinet pneumatic shell 18 is sealed and installed with the oil-filled shell 8 of line outlet, one end of socket 16 is inserted in control cabinet pneumatic shell 18 by the oil-filled shell 8 of this line outlet, the other end is positioned at the groove of the oil-filled shell 8 of line outlet, and by the line outlet end cap 7 that is arranged on line outlet oil-filled shell 8 top and seal ring 13 sealed envelope, prevent seawater from entering.Control cabinet pneumatic shell 18 is provided with the internal pressure table 26 detecting pressure-resistant cabin housing 11 internal gas pressure in going back, the gaseous tension of pressure-resistant cabin housing 11 inside can be measured in real time by internal pressure table 26, in addition in conjunction with the ambient temperature parameter that Autonomous Underwater aircraft 27 is measured, can calculate by gas compression law the amount that in the leather bag 6 obtained in outer leather bag cabin 5, fluid flows into pressure-resistant cabin housing 11, thus the overall buoyancy decrease of Autonomous Underwater aircraft can be obtained accurately.
Principle of work of the present invention is:
As shown in Figure 6, when Autonomous Underwater aircraft needs in the just subjob of unknown marine site desired depth, two unidirectional buoyancy regulating devices are fixed on the both sides of Autonomous Underwater aircraft 27 by being connected and fixed plate 2 symmetry; Fill fluid in leather bag 6 in outer leather bag cabin 5, in the leather bag 6 in pressure-resistant cabin housing 11, there is no fluid.When after Autonomous Underwater aircraft 27 dive to designated depth, evaluated the heavy buoyant state of Autonomous Underwater aircraft 27 by the size of Autonomous Underwater aircraft 27 propeller speed, provide buoyancy adjustment amount according to this heavy buoyant state.Then control by electronic unit 19 break-make that two position two-way valve 17 controls path between leather bag 6 in outer leather bag cabin 5 and pressure-resistant cabin housing 11.When two position two-way valve 17 is opened, path is opened, fluid in outer leather bag cabin 5 in leather bag 6 flows out by leading to oil groove 29, the leather bag 6 in pressure-resistant cabin housing 11 is entered into successively through plug-in mounting check valve 20, hydraulic fluid port throttling unit 3, two position two-way valve 17, leather bag 6 smaller volume in outer leather bag cabin 5, buoyancy reduces.Simultaneously, the oil inlet quantity of buoyancy regulating device is calculated by the temperature sensor value of real-time internal pressure table 26 and Autonomous Underwater aircraft 27, when after the regulated quantity arriving predetermined computation, just control two position two-way valve 17 and close, under the buoyant state of sail body just can remain on predetermined state.If desired backflow in the leather bag 6 in outside leather bag cabin 5, take away outlet and block 14, inflated in pressure-resistant cabin housing 11 by external inflation mouth 23, simultaneously two position two-way valve 17 commutates, the fluid in pressure-resistant cabin housing 11 in leather bag 6 successively through two position two-way valve 17, hydraulic fluid port throttling unit 3, the first oil return bypass interface 24, second oil return bypass interface 25 is back in the leather bag 6 in outer leather bag cabin 5.
The buoyancy that the present invention is suitable for deep-sea Autonomous Underwater aircraft large degree of depth navigation detection process in unknown marine site regulates automatically, the repeatedly trim repeatedly when avoiding deep-sea to navigate by water.The present invention does not need the energy consuming aircraft itself in a large number, is regulated the buoyancy of Autonomous Underwater aircraft by the volume theory changing buoyancy regulating device, relies on air pressure principle to realize the measurement of Autonomous Underwater aircraft buoyancy adjustment amount.The present invention can realize aircraft, particularly large dark aircraft maritime navigation of diving and not need the function of independent trim.
Claims (10)
1. the unidirectional buoyancy regulating device for Autonomous Underwater aircraft, it is characterized in that: described unidirectional buoyancy regulating device is arranged in Autonomous Underwater aircraft (27), comprise buoyancy material outer cover (1), outer leather bag cabin (5), leather bag (6), control cabinet pneumatic shell (18), control cock, pressure-resistant cabin side end cap (9) and pressure-resistant cabin housing (11), wherein outer leather bag cabin (5), control cabinet pneumatic shell (18), pressure-resistant cabin side end cap (9) is connected successively with pressure-resistant cabin housing (11), and by described buoyancy material outer cover (1) parcel, in described outer leather bag cabin (5) and pressure-resistant cabin housing (11), leather bag (6) is housed respectively, this outer leather bag cabin (5) has limber hole (21), described control cock is arranged in control cabinet pneumatic shell (18), be connected with the leather bag (6) in pressure-resistant cabin housing (11) with outer leather bag cabin (5) respectively, this control cock controls the flow direction of oil between two leather bags (6) by described Autonomous Underwater aircraft (27), seawater enters in outer leather bag cabin (5) by described limber hole (21), fluid in the interior leather bag of described outer leather bag cabin (5) (6) flows in the leather bag (6) in pressure-resistant cabin housing (11), is carried out the adjustment of buoyancy by the change of leather bag (6) volume in outer leather bag cabin (5).
2. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1, it is characterized in that: described buoyancy material outer cover (1) is arranged in Autonomous Underwater aircraft (27) by being connected and fixed plate (2), on outer leather bag cabin (5) and pressure-resistant cabin housing (11), cover has and the described coupling link (4) being connected and fixed plate (2) and being connected respectively.
3. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1, it is characterized in that: described one end of outer leather bag cabin (5) and one end of control cabinet pneumatic shell (18) are tightly connected, and described limber hole (21) are opened in the other end of outer leather bag cabin (5); Be provided with outer oil sac outlet gland (15) being arranged on control cabinet pneumatic shell (18) one end in leather bag (6) in described outer leather bag cabin (5), this outer oil sac outlet gland (15) has logical oil groove (29).
4. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 3, it is characterized in that: described outer oil sac outlet gland (15) is in spherical crown shape.
5. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 3, it is characterized in that: described control cabinet pneumatic shell (18) has and is threaded hydraulic fluid port throttling unit (3) and exports the tapped bore blocking head (14), wherein the both sides of hydraulic fluid port throttling unit (3) are connected with described logical oil groove (29) and described control cock respectively by oil circuit, the oil circuit between hydraulic fluid port throttling unit (3) and logical oil groove (29) are provided with plug-in mounting check valve (20); The tapped bore that described outlet blocks head (14) place is connected with the oil circuit between hydraulic fluid port throttling unit (3) and plug-in mounting check valve (20) by oil circuit, fluid, by backflow in the leather bag (6) in the outside leather bag cabin (5) of this tapped bore, is provided with spring and containment member in described tapped bore.
6. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1, it is characterized in that: described control cabinet pneumatic shell (18) is sealed and installed with the oil-filled shell of line outlet (8), one end of socket (16) is inserted in control cabinet pneumatic shell (18) by the oil-filled shell of this line outlet (8), the other end is positioned at the groove of the oil-filled shell of line outlet (8), and by being arranged on line outlet end cap (7) sealed envelope at the oil-filled shell of line outlet (8) top.
7. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1, it is characterized in that: one end of described pressure-resistant cabin housing (11) is connected with control cabinet pneumatic shell (18) by pressure-resistant cabin side end cap (9), the other end has external pressure table interface (22) and external inflation mouth (23), and described external pressure table interface (22) and external inflation mouth (23) outside are provided with the seal closure (30) be arranged on pressure-resistant cabin housing (11) other end.
8. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1 or 7, it is characterized in that: the leather bag (6) in described pressure-resistant cabin housing (11) is provided with internal insulation spherical shell (10) in one end of pressure-resistant cabin side end cap (9), and the leather bag (6) in pressure-resistant cabin housing (11) is attached in the gabarit of described internal insulation spherical shell (10) when shrinking.
9., by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 8, it is characterized in that: described internal insulation spherical shell (10) inside is provided with the anti-jet baffle plate (28) be arranged on pressure-resistant cabin side end cap (9).
10. by the unidirectional buoyancy regulating device for Autonomous Underwater aircraft described in claim 1, it is characterized in that: in described control cabinet pneumatic shell (18), be provided with the internal pressure table (26) detecting pressure-resistant cabin housing (11) internal gas pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310639466.1A CN104670444B (en) | 2013-11-30 | 2013-11-30 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310639466.1A CN104670444B (en) | 2013-11-30 | 2013-11-30 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670444A true CN104670444A (en) | 2015-06-03 |
| CN104670444B CN104670444B (en) | 2017-03-15 |
Family
ID=53306158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310639466.1A Expired - Fee Related CN104670444B (en) | 2013-11-30 | 2013-11-30 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104670444B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105298946A (en) * | 2015-11-20 | 2016-02-03 | 沈阳航天新光集团有限公司 | Buoyancy adjusting device |
| CN105857554A (en) * | 2016-03-25 | 2016-08-17 | 中国海洋大学 | Underwater vehicle buoyancy measuring method |
| CN106122125A (en) * | 2016-08-18 | 2016-11-16 | 中国海洋大学 | A kind of interior fuel tank of fluid pressure buoyancy regulating device |
| CN106184664A (en) * | 2016-06-28 | 2016-12-07 | 哈尔滨工程大学 | Coupling roll regulation and the glider adjusting means of buoyancy adjustment |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| CN108454810A (en) * | 2018-02-08 | 2018-08-28 | 中国船舶重工集团公司第七〇九研究所 | A kind of huge discharge buoyancy regulating system suitable for deep-sea high-pressure environment |
| CN108639284A (en) * | 2018-03-22 | 2018-10-12 | 中国海洋大学 | A kind of underwater duct braiding machine people |
| CN109229313A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109398752A (en) * | 2018-11-26 | 2019-03-01 | 中国船舶重工集团公司第七0五研究所 | A kind of big quality row in small space for light-duty air-drop simulation load, which carries, to set |
| CN110297268A (en) * | 2019-07-19 | 2019-10-01 | 自然资源部第二海洋研究所 | Automatically the bathyseism signal pickup assembly heaved |
| CN113071602A (en) * | 2021-04-27 | 2021-07-06 | 中国科学院生态环境研究中心 | Water ecology monitoring devices |
| CN115027651A (en) * | 2022-06-27 | 2022-09-09 | 中国船舶科学研究中心 | High-precision integrated buoyancy regulating system and operation method |
| CN115230961A (en) * | 2022-07-22 | 2022-10-25 | 中国空气动力研究与发展中心空天技术研究所 | Water-air dual-purpose internal and external pressure balance type pressure-resistant cabin and operation method thereof |
| CN115817773A (en) * | 2023-01-04 | 2023-03-21 | 北京先驱高技术开发有限责任公司 | Buoyancy equalizing mechanism for underwater robot |
| US11993356B2 (en) | 2021-01-21 | 2024-05-28 | Saab Ab | Nose arrangement and method for deploying a nose arrangement of an underwater vehicle |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03153492A (en) * | 1989-11-09 | 1991-07-01 | Mitsubishi Heavy Ind Ltd | Buoyancy adjusting device for diving machine |
| KR20000032190A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for regulating buoyancy of underwater equipment |
| EP1660368B1 (en) * | 2003-08-22 | 2007-01-10 | Aberdeen University | A buoyancy control system |
| CN200951828Y (en) * | 2006-09-21 | 2007-09-26 | 浙江大学 | Floatage control apparatus of underwater glider |
| CN200988573Y (en) * | 2006-11-21 | 2007-12-12 | 沈阳工业大学 | Closed hydraulic buoyancy driving device |
| CN101337578A (en) * | 2008-08-27 | 2009-01-07 | 哈尔滨工程大学 | Underwater robot adjusted by three oil-bags and depth-setting control method thereof |
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN102079374A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN102951277A (en) * | 2011-08-29 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Soft oil bag of underwater vehicle |
| CN103350749A (en) * | 2013-07-11 | 2013-10-16 | 中国船舶重工集团公司第七○二研究所 | Energy-saving type residual buoyancy driving device utilizing spring to store energy |
| CN203581367U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | One-way buoyancy adjusting device for autonomous underwater vehicle |
-
2013
- 2013-11-30 CN CN201310639466.1A patent/CN104670444B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03153492A (en) * | 1989-11-09 | 1991-07-01 | Mitsubishi Heavy Ind Ltd | Buoyancy adjusting device for diving machine |
| KR20000032190A (en) * | 1998-11-13 | 2000-06-05 | 김종수 | Device for regulating buoyancy of underwater equipment |
| EP1660368B1 (en) * | 2003-08-22 | 2007-01-10 | Aberdeen University | A buoyancy control system |
| CN200951828Y (en) * | 2006-09-21 | 2007-09-26 | 浙江大学 | Floatage control apparatus of underwater glider |
| CN200988573Y (en) * | 2006-11-21 | 2007-12-12 | 沈阳工业大学 | Closed hydraulic buoyancy driving device |
| CN101337578A (en) * | 2008-08-27 | 2009-01-07 | 哈尔滨工程大学 | Underwater robot adjusted by three oil-bags and depth-setting control method thereof |
| CN102079374A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN102951277A (en) * | 2011-08-29 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Soft oil bag of underwater vehicle |
| CN103350749A (en) * | 2013-07-11 | 2013-10-16 | 中国船舶重工集团公司第七○二研究所 | Energy-saving type residual buoyancy driving device utilizing spring to store energy |
| CN203581367U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | One-way buoyancy adjusting device for autonomous underwater vehicle |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105298946A (en) * | 2015-11-20 | 2016-02-03 | 沈阳航天新光集团有限公司 | Buoyancy adjusting device |
| CN105857554A (en) * | 2016-03-25 | 2016-08-17 | 中国海洋大学 | Underwater vehicle buoyancy measuring method |
| CN106184664A (en) * | 2016-06-28 | 2016-12-07 | 哈尔滨工程大学 | Coupling roll regulation and the glider adjusting means of buoyancy adjustment |
| CN106122125A (en) * | 2016-08-18 | 2016-11-16 | 中国海洋大学 | A kind of interior fuel tank of fluid pressure buoyancy regulating device |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| CN108454810A (en) * | 2018-02-08 | 2018-08-28 | 中国船舶重工集团公司第七〇九研究所 | A kind of huge discharge buoyancy regulating system suitable for deep-sea high-pressure environment |
| CN108639284A (en) * | 2018-03-22 | 2018-10-12 | 中国海洋大学 | A kind of underwater duct braiding machine people |
| CN109229313A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN109398752A (en) * | 2018-11-26 | 2019-03-01 | 中国船舶重工集团公司第七0五研究所 | A kind of big quality row in small space for light-duty air-drop simulation load, which carries, to set |
| CN109398752B (en) * | 2018-11-26 | 2021-12-24 | 中国船舶重工集团公司第七0五研究所 | Small-space large-mass load discharging device for light air-drop simulation load |
| CN110297268A (en) * | 2019-07-19 | 2019-10-01 | 自然资源部第二海洋研究所 | Automatically the bathyseism signal pickup assembly heaved |
| CN110297268B (en) * | 2019-07-19 | 2024-02-23 | 自然资源部第二海洋研究所 | Automatic deep sea seismic signal acquisition device of heave |
| US11993356B2 (en) | 2021-01-21 | 2024-05-28 | Saab Ab | Nose arrangement and method for deploying a nose arrangement of an underwater vehicle |
| CN113071602A (en) * | 2021-04-27 | 2021-07-06 | 中国科学院生态环境研究中心 | Water ecology monitoring devices |
| CN113071602B (en) * | 2021-04-27 | 2022-04-08 | 中国科学院生态环境研究中心 | Water ecology monitoring devices |
| CN115027651A (en) * | 2022-06-27 | 2022-09-09 | 中国船舶科学研究中心 | High-precision integrated buoyancy regulating system and operation method |
| CN115230961A (en) * | 2022-07-22 | 2022-10-25 | 中国空气动力研究与发展中心空天技术研究所 | Water-air dual-purpose internal and external pressure balance type pressure-resistant cabin and operation method thereof |
| CN115817773A (en) * | 2023-01-04 | 2023-03-21 | 北京先驱高技术开发有限责任公司 | Buoyancy equalizing mechanism for underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104670444B (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104670444A (en) | One-way buoyancy regulation device used for autonomous underwater vehicle | |
| CN203581367U (en) | One-way buoyancy adjusting device for autonomous underwater vehicle | |
| CN106005324B (en) | A kind of high-precision pressure storage type buoyancy regulating device of air pressure detection | |
| CN102841216B (en) | Portable speed measuring device for ship | |
| EP3139177B1 (en) | Improved electromagnetic boat speedometer having removable electrodes | |
| CN109591988A (en) | A kind of buoyancy-driven device adjusted based on ocean environment parameter | |
| CN104670439B (en) | Buoyancy adjusting method for AUV | |
| CN103085952A (en) | Manless underwater vehicle | |
| CN101870351B (en) | Deep-sea oil-pocket buoyancy regulation device | |
| CN104034317A (en) | Detection method for reciprocating oceanic microstructural profiler | |
| CN106644388B (en) | Test device and test method for deep water floating of folding floating bag of unmanned underwater vehicle | |
| CN103112550A (en) | Abysmal sea communication relay buoy | |
| CN107878716B (en) | A kind of buoyancy regulating device based on sea water pump | |
| CN108088622B (en) | A inkjet tracer for dam is leaked under water | |
| CN103712605B (en) | Underwater portable contact pin type sits bottom profile instrument | |
| CN103496443A (en) | Buoyancy regulating system and method of underwater equipment | |
| CN103448890B (en) | Small autokinetic-movementocean ocean observation platform shell | |
| CN106289163A (en) | A kind of cable system ocean profile instrument of buoyancy-driven | |
| CN208453212U (en) | Ocean-atmosphere interface observes data real time implementation water surface relay communication float | |
| CN207225610U (en) | A kind of sea unmanned plane floating stop device air bag component | |
| CN203268304U (en) | Small autokinetic movement ocean observation platform shell | |
| Robador et al. | Design of an AUV for visual inspection of nuclear power plants | |
| US10161822B1 (en) | Differential pressure measurement system with solenoid coupled reference reservoir | |
| CN210513795U (en) | Intelligent water taking device suitable for open water area | |
| CN202815002U (en) | Portable ship speed measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20181130 |