CN106926998A - A kind of underwater robot rolling diaphragm formula buoyancy regulating device - Google Patents
A kind of underwater robot rolling diaphragm formula buoyancy regulating device Download PDFInfo
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- CN106926998A CN106926998A CN201511017769.5A CN201511017769A CN106926998A CN 106926998 A CN106926998 A CN 106926998A CN 201511017769 A CN201511017769 A CN 201511017769A CN 106926998 A CN106926998 A CN 106926998A
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- piston
- rolling diaphragm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
Abstract
The present invention relates to buoyancy regulating device, specifically a kind of underwater robot rolling diaphragm formula buoyancy regulating device, fixed cylinder is located at the inside of compressive cabin, one end of one end of fixed cylinder and pressure-resistant cylinder body is installed in same one end of compressive cabin, and the other end of pressure-resistant cylinder body is connected with the cylinder cap with discharge outlet；The other end of fixed cylinder is provided with bearing block, and ball-screw is rotated with bearing block and is connected, and power source is arranged on bearing block by fixed seat, and is connected with ball-screw；Piston rod is located at the inside of pressure-resistant cylinder body and fixed cylinder, and one end is connected with the feed screw nut being threadedly coupled on ball-screw, and the other end is connected with piston, and rolling diaphragm is arranged on piston, and edge is pressed between cylinder cap and pressure-resistant cylinder body；Linear potentiometers are arranged in fixed seat, and the pull bar of linear potentiometers is connected with the location connector installed in piston rod one end.The features such as present invention has compact conformation, reliable operation, high efficiency, fast response, high accuracy.
Description
Technical field
The present invention relates to buoyancy regulating device, specifically a kind of underwater robot rolling film
Chip buoyancy regulating device.
Background technology
Underwater robot has been widely used in ocean as a kind of subaqueous survey, job platform
The application fields such as scientific research, ocean engineering, exploration of ocean resources, rescue salvaging.Usual water
Lower robot to be kept in operation process stabilization buoyant state, such as AUV (untethered under water from
Control robot) keep neutral state, it is ensured that the depthkeeping hovering of AUV；Aerodone keeps steady
The buoyant state of fixed just (negative), it is ensured that the floating (dive) of its stabilization.However, receiving
The influence of density of sea water change, the buoyant state of underwater robot can fluctuate, so as to influence
The motion state of underwater robot.By special buoyancy regulating device, according to underwater robot
The density of sea water situation in operation marine site, automatically adjusts the displacement of volume of underwater robot to reach the phase
The buoyant state of prestige.Therefore research modularization, compact conformation, high precision, low in energy consumption, stable
Reliable underwater robot buoyancy regulating device, the overall performance to improving water robot has
Important function.
At present, the method for regulation underwater robot buoyancy mainly has two kinds, and one kind is using in cabin
The plug-in oil sac size of regulation of hydraulic system carrier realize buoyancy adjustment, this mode is applicable
In deep-sea high-pressure environment, but generally hydraulic system installation and debugging are complex, and system total efficiency
Relatively low, buoyancy adjustment precision is poor.Or by the way of piston directly pushes away draining realize from
Body accumulates the change of size, and the position for detecting piston by linear potentiometers can be carried with precise control
The stereomutation amount of body, but because piston movement process is dynamic sealing, works long hours and have mill
Damage leakage phenomenon.
The content of the invention
Realize that buoyancy adjustment and piston are directly pushed away to solve the existing plug-in oil sac size of regulation
The above mentioned problem that volume size variation two ways is present is realized in draining, it is an object of the invention to
A kind of underwater robot rolling diaphragm formula buoyancy regulating device is provided.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes cylinder cap, pressure-resistant cylinder body, rolling diaphragm, piston, fixed cylinder, straight-line electric
Position meter, power source, piston rod, ball-screw, feed screw nut, bearing block and compressive cabin,
Wherein fixed cylinder is located at the inside of compressive cabin, one end of the fixed cylinder and the pressure-resistant cylinder body
One end is installed in same one end of the compressive cabin, and the other end of the pressure-resistant cylinder body is connected with
Cylinder cap with discharge outlet；The other end of the fixed cylinder is provided with bearing block, the ball-screw
Rotated with the bearing block and be connected, the power source is arranged on bearing block by fixed seat, and with
The ball-screw is connected；The piston rod is located at the inside of pressure-resistant cylinder body and fixed cylinder, one end
It is connected with the feed screw nut being threadedly coupled on the ball-screw, the other end is connected with piston, institute
Rolling diaphragm is stated on the piston, edge is pressed between the cylinder cap and pressure-resistant cylinder body；
The linear potentiometers be arranged on the fixed seat on, the pull bar of the linear potentiometers be arranged on
The location connector of described piston rod one end is connected；The power source drive ball screw turns,
Gyration is converted into the piston rod with the feed screw nut by the ball-screw to drive
The linear reciprocation movement of piston and rolling diaphragm, the buoyancy of underwater robot is realized by pushing away draining
Regulation.
Wherein：The middle part of the rolling diaphragm is arranged on piston, the part convolution of middle part periphery
After be put between the piston side and pressure-resistant inboard wall of cylinder block, the cylinder cap and pressure-resistant cylinder body are compressed
The edge of rolling diaphragm is simultaneously affixed；The rolling diaphragm is moved with piston rod linear reciprocation, with institute
State rolling friction between piston and pressure-resistant cylinder body；
The power source includes double rolling key clutch and direct current generator, and fixed seat is solid for clutch
Reservation, the double rolling key clutch is arranged on the bearing block by clutch fixed seat；
The direct current generator is arranged in clutch fixed seat, and the motor shaft insertion of the direct current generator is described
The drive end of double rolling key clutch, the input insertion bidirectional overtaking clutch of the ball-screw
The driven end of device；One end of the pressure-resistant cylinder body is provided with nylon fairlead, the nylon fairlead
It is set on the piston rod, is fitting of non-circular between the piston rod；
Bar hole is provided with the side wall of the fixed cylinder vertically, the location connector is passed through should
Bar hole is connected to one end of the piston rod, and the location connector is in piston rod linear reciprocation
Moved back and forth in the bar hole in mobile process；The rolling diaphragm towards cylinder cap one
Middle side part is provided with diaphragm compressing member, and diaphragm compressing member, rolling diaphragm and the piston are common by screw
With the other end installed in the piston rod；Two ends in the bearing block are provided with angular contact ball axle
Hold, thrust roller bearing is provided between the angular contact ball bearing of two ends, the ball-screw
Input passes through angular contact ball bearing and thrust roller bearing, and is locked by locking nut.
Advantages of the present invention is with good effect：
1. the present invention will be completely cut off by rolling diaphragm in extraneous seawater and cabin, form variable-volume
Buoyancy regulating device, be instead of by the way of conventional piston pushes away draining using rolling diaphragm, will pass
The sliding friction pushed away in drainage procedure of the piston of system is converted for rolling friction, by piston movement
Dynamic sealing be converted into static seal, it is to avoid reciprocal operation causes sealing ring to conventional piston for a long time
The situation worn and torn and reveal, the relatively reliable stabilization of system.
2. the present invention uses cooperatively ball-screw with double rolling key clutch, has both realized and is
The auto-lock function of system, improves system effectiveness again.
3. the present invention is measured using linear potentiometers to the axial location of piston, Neng Goushi
When accurately monitor variation in buoyancy.
4. the present invention is made up of mechanical transmission structure, than hydraulic system reaction speed faster,
Structure is simpler compact.
5. compact conformation of the present invention, reliable operation, efficiency high, high precision, response are fast.
6. low cost of the present invention, is not required to special process component, and abrasion parts are easy to again
Processing and replacing.
Brief description of the drawings
Fig. 1 is internal structure schematic diagram of the invention；
Fig. 2 is the partial structural diagram before draining of the present invention；
Fig. 3 is the partial structural diagram after draining of the present invention；
Wherein：1 is cylinder cap, and 2 is pressure-resistant cylinder body, and 3 is rolling diaphragm, and 4 is piston, and 5 are
Nylon fairlead, 6 is fixed cylinder, and 7 is location connector, and 8 is linear potentiometers, and 9 is angle
Contact ball bearing, 10 is thrust roller bearing, and 11 is locking nut, 12 be bidirectional overtaking from
Clutch, 13 is direct current generator, and 14 is diaphragm compressing member, and 15 is piston rod, and 16 is ball
Leading screw, 17 is feed screw nut, and 18 is bearing block, and 19 is clutch fixed seat, and 20 is motor
Fixture, 21 is compressive cabin, and 22 is bar hole, and 23 is discharge outlet.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes cylinder cap 1, pressure-resistant cylinder body 2, rolling diaphragm 3, work
Plug 4, nylon fairlead 5, fixed cylinder 6, location connector 7, linear potentiometers 8, power
Source, diaphragm compressing member 14, piston rod 15, ball-screw 16, feed screw nut 17, bearing block
18 and compressive cabin 21, wherein compressive cabin 21, fixed cylinder 6 and pressure-resistant cylinder body 2 is back
Swivel structure, compressive cabin 21 is the column-shaped internal section hollow structure of one end open, fixed cylinder 6
Positioned at the inside of compressive cabin 21, this is pressure-resistant cylinder body 2 and fixed cylinder 6 are inner hollow knot
Structure.One end of one end of fixed cylinder 6 and pressure-resistant cylinder body 2 is installed in the same of compressive cabin 21
One end (openend), the other end of pressure-resistant cylinder body 2 is connected with the cylinder cap 1 with discharge outlet 23.
Bearing block 18 is located inside compressive cabin 21, is fixed on the other end of fixed cylinder 6；
Two ends in the bearing block 18 are provided with angular contact ball bearing 9, positioned at two ends angular contact ball bearing 9
Between be provided with thrust roller bearing 10, one end (input) of ball-screw 16 passes through corner connection
Touch ball bearing 9 and thrust roller bearing 10 and bearing block 18 rotates connection, and by locking
Nut 11 is locked.
Power source is located inside compressive cabin 21, is arranged on bearing block 18 by fixed seat,
And be connected with ball-screw 16.The power source of the present embodiment include double rolling key clutch 12 and
Direct current generator 13, fixed seat be clutch fixed seat 19, double rolling key clutch 12 by from
Clutch fixed seat 19 is arranged on bearing block 18；Direct current generator 13 is fixed installed in clutch
On seat 19, the motor shaft of the direct current generator 13 inserts the drive end of double rolling key clutch 12,
The input of ball-screw 16 inserts the driven end of double rolling key clutch 12.
Piston rod 15 is located at the inside of pressure-resistant cylinder body 2 and fixed cylinder 6, and the piston rod 15 is one
The column-shaped internal section hollow structure of end opening, the other end of ball-screw 16 is located in piston rod 15.
One end (openend) of piston rod 15 is located in fixed cylinder 6, is connected with feed screw nut 17,
The feed screw nut 17 is threadedly connected on ball-screw 16；The other end of piston rod 15 is located at
In pressure-resistant cylinder body 2, it is connected with piston 4.The middle part of rolling diaphragm 3 is arranged on piston 4,
It is put between the side of piston 4 and the inwall of pressure-resistant cylinder body 2 after the part convolution of middle part periphery, cylinder cap
1 and pressure-resistant cylinder body 2 compress the edge of rolling diaphragm 3 and affixed.Direct current generator 13 drives rolling
Ballscrew 16 is rotated, and is converted gyration by the ball-screw 16 and feed screw nut 17
Being piston rod 15, the linear reciprocation with piston 4 and rolling diaphragm 3 is moved, rolling diaphragm 3
In with the linear reciprocation moving process of piston rod 15, rolled between piston 4 and pressure-resistant cylinder body 2
Dynamic friction.Rolling diaphragm 3 is provided with diaphragm compressing member 14 towards a middle side part of cylinder cap 1, should
Diaphragm compressing member 14, rolling diaphragm 3 and piston 4 are commonly mounted on piston rod 15 by screw
The other end.One end of pressure-resistant cylinder body 2 is provided with nylon fairlead 5, the nylon fairlead 5
It is set on piston rod 15, is fitting of non-circular between piston rod 15.
Linear potentiometers 8 are arranged in clutch fixed seat 19, the pull bar of linear potentiometers 8
It is connected with the location connector 7 installed in the one end of piston rod 15.Edge on the side wall of fixed cylinder 6
Bar hole 22 axially is provided with, location connector 7 is connected to piston rod 15 through the bar hole 22
One end, location connector 7 the linear reciprocation of piston rod 15 move during in bar hole
Moved back and forth in 22.
Linear potentiometers of the invention 8 are commercial products, purchase public in German NOVOTECHNIK
Department, model T-0100.Double rolling key clutch of the invention 12 is commercial products, is purchased
In Beijing Xinxing Overrunning Clutch Co., Ltd., model CKS105.
Installation process of the invention is：
The shell of double rolling key clutch 12 is fixed by screws in clutch fixed seat 19
Together.Direct current generator 13 after seam coordinates positioning, is entered with motor fixture 20 with screw
Row fastening.The motor shaft of direct current generator 13 is inserted the drive end of double rolling key clutch 12,
And motor fixture 20 is fixed in clutch fixed seat 19 with screw.Two angular contact balls
Bearing 9 and a thrust roller bearing 10 load in bearing block 18, by ball-screw 16
Input is through three bearings and with locking nut 11 with tight；Two corner connections in bearing block 18
Touch ball bearing 9 and play a part of radial positioning to ball-screw 16, thrust roller bearing 10 is used
Carry out the axial force of balance ball leading screw 16.The input of ball-screw 16 is inserted into bidirectional overtaking
The driven end of clutch 12, and entered with the seam of clutch fixed seat 19 by bearing block 18
Row coordinates positioning.Bearing block 18 carries out cooperation positioning with the other end of fixed cylinder 6 by seam
Afterwards, clutch fixed seat 19, bearing block 18, fixed cylinder 6 are connected with screw.Nylon guide
Fastened by screw with one end of pressure-resistant cylinder body 2 to set 5 and be connected.Feed screw nut 17 and piston
One end of bar 15 by screw fix after, penetrate nylon fairlead 5, using fixed cylinder 6 with
The seam of pressure-resistant cylinder body 2 carries out cooperation positioning, is between nylon fairlead 5 and piston rod 15
Fitting of non-circular, nylon fairlead 5 both ensure that the axial easy motion of piston rod 15, and
Limit the gyration of piston rod 15.By screw by diaphragm compressing member 14, rolling diaphragm
3rd, piston 4, piston rod 15 are connected, and are set between the other end and piston 4 of piston rod 15
Put radial direction "O"-ring, the sealing to ensure system.To be put into after the convolution of rolling diaphragm 3
Between piston 4 and the inwall space of pressure-resistant cylinder body 2, cylinder cap 1 and resistance to is made by screw and nut
Cylinder pressure body 2 compresses rolling diaphragm 3.Linear potentiometers 8 are by screw and clutch fixed seat 19
It is connected, location connector 7 is connected with one end of piston rod 17 by screw.By straight line current potential
The pull bar of meter 8 is fixedly connected with side position connector 7.Finally, by screw by pressure-resistant cylinder body 2
It is fixedly connected on compressive cabin 21 with fixed cylinder 6.
Operation principle of the invention is：
Direct current generator 13 drives ball-screw 16 to be turned round by double rolling key clutch 12
Motion, the feed screw nut 17 on ball-screw 16 converts the gyration of ball-screw 16
It is linear motion, and it is closed to adjust to drive piston rod 15 and piston 4 to be moved forward and backward
The size of nacelle；Now, rolling diaphragm 3 is rolled along pressure-resistant cylinder body 2 and piston 4, by rolling
Dynamic diaphragm 3 will completely cut off in extraneous seawater and cabin, so as to play the function of regulation buoyancy.By work
Movement of the stopper rod 15 with piston 4, rolling diaphragm 3, by the water in cylinder cap 1 by discharge outlet
23 discharges.The course of work is illustrated as shown in Figure 2 and Figure 3.
The position of piston 4 is detected by linear potentiometers 8 just can be precisely in real time
Obtain the buoyancy adjustment amount of carrier.The present invention instead of the dynamic of conventional piston using rolling diaphragm 3
Sealing means, make buoyancy adjustment more safe and reliable.Simultaneously because rolling diaphragm 3 and resistance to cylinder pressure
It is rolling friction between body 2 and piston 4, improves the efficiency of buoyancy regulating device.Ball wire
But the transmission efficiency of thick stick 16 is high itself can not to realize auto-lock function, under external pressure piston
4 can be moved rearwards by, and this can cause to set the change of buoyancy amount.In order to realize buoyancy regulating device
Auto-lock function, add double rolling key clutch between ball-screw 16 and direct current generator 13
12 (when drive end is rotated clockwise or counterclockwise, driven shaft also synchronous axial system, and when actively
When axle is motionless, driven shaft can not all be rotated clockwise and anticlockwise under external force), direct current
Motor 13 is connected with the drive end of double rolling key clutch 12, and ball-screw 16 is super with two-way
More the driven end of clutch 12 is connected, and is so achieved that the self-locking of ball-screw.It is two-way super
The transmission efficiency of more clutch 12 is higher general up to more than 90%.
The invention provides a kind of built-in buoyancy regulating device, buoyancy adjustment required precision is high,
Energy consumption is low, and functional reliability is high, corresponding fast.It is applicable to change in real time the water of buoyant state
Lower robot, such as underwater glider etc..
Claims (7)
1. a kind of underwater robot rolling diaphragm formula buoyancy regulating device, it is characterised in that：
Including cylinder cap (1), pressure-resistant cylinder body (2), rolling diaphragm (3), piston (4), fixed cylinder (6),
Linear potentiometers (8), power source, piston rod (15), ball-screw (16), feed screw nut
(17), bearing block (18) and compressive cabin (21), wherein fixed cylinder (6) is positioned at pressure-resistant
The one of the inside of nacelle (21), one end of the fixed cylinder (6) and the pressure-resistant cylinder body (2)
End is installed in same one end of the compressive cabin (21), the pressure-resistant cylinder body (2) it is another
One end is connected with the cylinder cap (1) with discharge outlet (23)；The other end of the fixed cylinder (6)
Bearing block (18) is installed, the ball-screw (16) rotates with the bearing block (18) and connects
Connect, the power source by fixed seat be arranged on bearing block (18) on, and with the ball wire
Thick stick (16) is connected；The piston rod (15) is positioned at pressure-resistant cylinder body (2) and fixed cylinder (6)
Inside, one end and feed screw nut (17) phase being threadedly coupled on the ball-screw (16)
Even, the other end is connected with piston (4), and the rolling diaphragm (3) is installed in the piston (4)
On, edge is pressed between the cylinder cap (1) and pressure-resistant cylinder body (2)；The straight line current potential
Meter (8) in the fixed seat, the pull bar of the linear potentiometers (8) be arranged on institute
The location connector (7) for stating piston rod (15) one end is connected；The power source drive ball
Leading screw (16) is rotated, and will be returned with the feed screw nut (17) by the ball-screw (16)
Transhipment is dynamic, and to be converted into the piston rod (15) straight with piston (4) and rolling diaphragm (3)
Line is moved back and forth, and the buoyancy adjustment of underwater robot is realized by pushing away draining.
2. the rolling diaphragm formula buoyancy regulating device of the underwater robot as described in claim 1,
It is characterized in that：The middle part of the rolling diaphragm (3) is arranged on piston (4), outside middle part
It is put into after the part convolution enclosed between the piston (4) side and pressure-resistant cylinder body (2) inwall,
The edge of the cylinder cap (1) and pressure-resistant cylinder body (2) compression rolling diaphragm (3) is simultaneously affixed；
The rolling diaphragm (3) is moved with piston rod (15) linear reciprocation, with the piston (4)
And rolling friction between pressure-resistant cylinder body (2).
3. the rolling diaphragm formula buoyancy adjustment of the underwater robot as described in claim 1 or 2
Device, it is characterised in that：The power source includes double rolling key clutch (12) and direct current
Machine (13), fixed seat is clutch fixed seat (19), the double rolling key clutch (12)
By clutch fixed seat (19) on the bearing block (18)；The direct current generator
(13) in clutch fixed seat (19), the motor shaft of the direct current generator (13) is inserted
Enter the drive end of the double rolling key clutch (12), the input of the ball-screw (16)
The driven end at end insertion double rolling key clutch (12).
4. the rolling diaphragm formula buoyancy adjustment of the underwater robot as described in claim 1 or 2
Device, it is characterised in that：One end of the pressure-resistant cylinder body (2) is provided with nylon fairlead (5),
The nylon fairlead (5) is set on the piston rod (15), with the piston rod (15)
Between be fitting of non-circular.
5. the rolling diaphragm formula buoyancy adjustment of the underwater robot as described in claim 1 or 2
Device, it is characterised in that：Bar hole (22) is provided with vertically on the side wall of the fixed cylinder (6),
The location connector (7) is connected to the piston rod (15) through the bar hole (22)
One end, the process that the location connector (7) is moved in piston rod (15) linear reciprocation
In move back and forth in the bar hole (22).
6. the rolling diaphragm formula buoyancy adjustment of the underwater robot as described in claim 1 or 2
Device, it is characterised in that：The rolling diaphragm (3) sets towards a middle side part of cylinder cap (1)
There is diaphragm compressing member (14), the diaphragm compressing member (14), rolling diaphragm (3) and piston (4)
The other end of the piston rod (15) is commonly mounted on by screw.
7. the rolling diaphragm formula buoyancy adjustment of the underwater robot as described in claim 1 or 2
Device, it is characterised in that：Two ends in the bearing block (18) are provided with angular contact ball bearing (9),
Thrust roller bearing (10), the ball are provided between two ends angular contact ball bearing (9)
The input of leading screw (16) passes through angular contact ball bearing (9) and thrust roller bearing (10),
And locked by locking nut (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017769.5A CN106926998B (en) | 2015-12-30 | 2015-12-30 | A kind of underwater robot rolling diaphragm formula buoyancy regulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017769.5A CN106926998B (en) | 2015-12-30 | 2015-12-30 | A kind of underwater robot rolling diaphragm formula buoyancy regulating device |
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| Publication Number | Publication Date |
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| CN106926998A true CN106926998A (en) | 2017-07-07 |
| CN106926998B CN106926998B (en) | 2019-02-15 |
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| CN107902060A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of ball-screw anti-reverse mechanism |
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| CN109878639A (en) * | 2018-09-28 | 2019-06-14 | 上海海洋大学 | Modularization pinpoints profile buoy |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| CN113200135A (en) * | 2021-06-10 | 2021-08-03 | 杭州电子科技大学 | Buoyancy adjusting device with emergency floating function and buoyancy adjusting method thereof |
| WO2022033036A1 (en) * | 2020-08-11 | 2022-02-17 | 江苏科技大学 | Two-way volumetric buoyancy regulation device, and testing device and testing method therefor |
| CN114475990A (en) * | 2021-12-29 | 2022-05-13 | 宜昌测试技术研究所 | Water inflow self-sinking device suitable for underwater cabin |
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Cited By (12)
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| CN107902060A (en) * | 2017-12-18 | 2018-04-13 | 天津瀚海蓝帆海洋科技有限公司 | A kind of ball-screw anti-reverse mechanism |
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| CN108241179A (en) * | 2018-01-16 | 2018-07-03 | 南京工程学院 | A kind of bionical underwater robot with gliding hybrid propulsion mode |
| CN109878639A (en) * | 2018-09-28 | 2019-06-14 | 上海海洋大学 | Modularization pinpoints profile buoy |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| WO2022033036A1 (en) * | 2020-08-11 | 2022-02-17 | 江苏科技大学 | Two-way volumetric buoyancy regulation device, and testing device and testing method therefor |
| KR20220025754A (en) * | 2020-08-11 | 2022-03-03 | 지앙수 유니버시티 오브 사이언스 앤드 테크놀로지 | Bidirectional positive displacement buoyancy control device and its test device and test method |
| KR102592350B1 (en) | 2020-08-11 | 2023-10-20 | 지앙수 유니버시티 오브 사이언스 앤드 테크놀로지 | Two-way positive displacement buoyancy control device and its test device and test method |
| CN113200135A (en) * | 2021-06-10 | 2021-08-03 | 杭州电子科技大学 | Buoyancy adjusting device with emergency floating function and buoyancy adjusting method thereof |
| CN114475990A (en) * | 2021-12-29 | 2022-05-13 | 宜昌测试技术研究所 | Water inflow self-sinking device suitable for underwater cabin |
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