CN107697252B - A kind of revolution locking device - Google Patents
A kind of revolution locking device Download PDFInfo
- Publication number
- CN107697252B CN107697252B CN201710790459.XA CN201710790459A CN107697252B CN 107697252 B CN107697252 B CN 107697252B CN 201710790459 A CN201710790459 A CN 201710790459A CN 107697252 B CN107697252 B CN 107697252B
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- folding
- unfolding
- rudderpost
- locking
- self
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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
- B63G8/20—Steering equipment
Abstract
The invention discloses a kind of revolution locking devices, comprising: only lock shaft, only lock steering engine, the first support, the second support, revolution rocker arm, the first self-locking backstop, the second self-locking backstop, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost；The revolution locking device is mainly used on the deployable and collapsible bow rudder device of underwater hiding-machine, and self-locking backstop rotates under lock shaft drive in only lock steering engine, revolution rocker arm and only, realizes that structure is simple to the locking of folding and unfolding rudderpost, only lock is reliable.The protective device that the revolution locking device is acted as entire bow rudder folding and unfolding, effectively prevents equipment damage caused by the maloperation of mechanical part, ensure that the normal operation and safety of rudder system mechanical device.
Description
Technical field
The invention belongs to underwater hiding-machine technical field more particularly to a kind of revolution locking devices.
Background technique
The deployable and collapsible bow rudder device of underwater hiding-machine is located at the stem of underwater hiding-machine, in order to avoid underwater hiding-machine alongside harbour
The damage of Shi Zaocheng rudder, withdraws rudder when pulling in shore.
In general, in the operating condition, the rotating shaft drag effect that met water is easy to happen rotation, will under steering effect
Cause the torsion and bending failure of steering shaft, so that latent device steering failure.Therefore, when rudder blade stretches out work or full reduced time entirely,
How to realize the locking to bow rudder device, guarantees the normal operation and safety of rudder system mechanical device, be those skilled in the art
One of the problem of urgent need to resolve.
Summary of the invention
Technology of the invention solves the problems, such as: a kind of revolution locking device is overcome the deficiencies of the prior art and provide, as entire
The protective device of bow rudder device folding and unfolding movement, prevents the maloperation of mechanical part from causing the damage of equipment.
In order to solve the above-mentioned technical problem, the invention discloses a kind of revolution locking devices, comprising: only lock shaft, only lock rudder
Machine, the first support, the second support, revolution rocker arm, the first self-locking backstop, the second self-locking backstop, the first folding and unfolding rudderpost and second are received
Put rudderpost；
The only centre bore that lock shaft sequentially passes through the first support, turns round rocker arm and the second support, with first support, revolution
Rocker arm and the connection of the second support；Wherein, only lock shaft and revolution rocker arm are connected, with the rotation of the revolution rocker arm around the first support
It is rotated with the centre bore of the second support；
First self-locking backstop and the second self-locking backstop are separately positioned on the both ends of the only lock shaft, solid with the only lock shaft
Even；
Only lock steering engine is connect with the revolution rocker arm, and only locking steering engine can drive revolution rocker arm along the axis rotation for stopping lock shaft；
First folding and unfolding rudderpost is arranged in the first self-locking grooves of the described first self-locking backstop；Second folding and unfolding rudderpost is arranged in institute
In the second self-locking grooves for stating the second self-locking backstop；
Wherein,
When the first self-locking backstop and the second self-locking backstop are in a horizontal position, the first folding and unfolding rudderpost is in the first self-locking backstop
The lower axial locking of effect, the second folding and unfolding rudderpost axial locking under the second self-locking backstop action；First folding and unfolding rudderpost and second is received
Put the axis and horizontal plane of rudderpost；
When the first self-locking backstop and the second self-locking with the only lock shaft, only lock steering engine and turn round under the drive of rocker arm,
When rotating 90 ° along horizontal position, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost are in axially unlocked state, can be along folding and unfolding rudderpost axis
Line rotation；
When the first self-locking backstop and the second self-locking with the only lock shaft, only lock steering engine and turn round under the drive of rocker arm,
When rotating backward 90 ° and returning to horizontal position, the first folding and unfolding rudderpost axial locking, second folding and unfolding rudder under the first self-locking backstop action
Axis axial locking under the second self-locking backstop action.
In above-mentioned revolution locking device,
The outer profile of first folding and unfolding rudderpost is polygon, the polygon outer profile of the first folding and unfolding rudderpost and described first
Self-locking grooves Corresponding matching；
The outer profile of second folding and unfolding rudderpost is polygon, the polygon outer profile of the second folding and unfolding rudderpost and described second
Self-locking grooves Corresponding matching.
In above-mentioned revolution locking device,
The outer profile of first folding and unfolding rudderpost is quadrangle, and adjacent both sides angle is 90 °, is in outer right angle；It is received with described first
The first self-locking grooves of rudderpost Corresponding matching are put in interior right angle；
The outer profile of second folding and unfolding rudderpost is quadrangle, and adjacent both sides angle is 90 °, is in outer right angle；It is received with described second
The second self-locking grooves of rudderpost Corresponding matching are put in interior right angle.
In above-mentioned revolution locking device,
When the first self-locking backstop and the second self-locking with the only lock shaft, only lock steering engine and turn round under the drive of rocker arm,
When rotating 90 ° along horizontal position, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost rotate 90 ° along respective axis respectively.
In above-mentioned revolution locking device, further includes: the first folding and unfolding steering engine and the second folding and unfolding steering engine；
First folding and unfolding steering engine is connect with the first folding and unfolding rudderpost, the second folding and unfolding steering engine and the second folding and unfolding steering engine axis connection；
When the first folding and unfolding rudderpost and the second folding and unfolding rudderpost in the unlocked state, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost
It can be rotated respectively under the action of the first folding and unfolding steering engine and the second folding and unfolding steering engine along folding and unfolding rudderpost axis.
In above-mentioned revolution locking device,
Spacing between first folding and unfolding rudderpost and the second folding and unfolding rudderpost is 2900mm；
Spacing between first support and the second support is 1000mm；
Only the spacing between the axis of lock shaft and the axis of the first folding and unfolding rudderpost is 180mm；
Only the spacing between the axis of lock shaft and the axis of the second folding and unfolding rudderpost is 180mm.
In above-mentioned revolution locking device,
Spacing between first folding and unfolding steering engine and the second folding and unfolding steering engine is 1900mm.
The invention has the following advantages that
Revolution locking device of the present invention, is mainly used in underwater hiding-machine bow rudder device, stretches out work entirely in rudder blade
Or at full reduced time, the locking to folding and unfolding rudderpost may be implemented by the revolution locking device, the revolution locking device is as whole
The protective device of a bow rudder folding and unfolding movement, effectively prevents equipment damage caused by the maloperation of mechanical part, ensure that rudder system
The normal operation and safety of system mechanical device, the revolution locking device are the innovation of China's underwater hiding-machine bow rudder.
Secondly, by the rational design of structure and position to self-locking backstop and folding and unfolding rudderpost in revolution locking device,
Ensure it is described revolution locking device integral layout meet requirement of the underwater hiding-machine bow rudder device to space, machine driving can
There is apparent advantage in property.
In addition, revolution locking device of the present invention uses mechanical locking, self-locking backstop and folding and unfolding rudderpost axis phase
Mutually vertical, self-locking backstop and folding and unfolding rudderpost phase mutually stop, steering engine need to only be powered standby, be not necessarily to work, save the device energy of diving.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for turning round locking device in the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of self-locking backstop in the embodiment of the present invention；
Fig. 3 is a kind of only lock status variation schematic diagram in the embodiment of the present invention；
Fig. 4 is a kind of size marking schematic diagram for turning round locking device in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, public to the present invention below in conjunction with attached drawing
Embodiment is described in further detail.
The invention discloses a kind of revolution locking devices, are mainly used in underwater hiding-machine bow rudder device.Referring to Fig.1, it shows
A kind of structural schematic diagram turning round locking device in the embodiment of the present invention.In the present embodiment, the revolution locking device, packet
It includes: stopping lock shaft 22, only locks steering engine 1, the first support 23, the second support 25, revolution rocker arm 21, the first self-locking backstop 24, second certainly
Locking keeps off the 26, first folding and unfolding rudderpost 31 and the second folding and unfolding rudderpost 32.
Such as Fig. 1, the first support 23, the second support 25, revolution rocker arm 21, the first self-locking backstop 24, the second self-locking backstop 26
It is arranged on only lock shaft 22, and, the first support 23 and the second support 25, the first self-locking backstop 24 and the second self-locking backstop 26 are
It is symmetrical arranged centered on turning round rocker arm 21.It is specific:
The only centre bore that lock shaft 22 sequentially passes through the first support 23, turns round rocker arm 21 and the second support 25, with described first
Support 23, revolution rocker arm 21 and the connection of the second support 25.
In the present embodiment, the first support 23 and the second support 25, for realizing the support to the revolution locking device.
Only lock shaft 22 and revolution rocker arm 21 are connected, and only lock shaft 22 can be with the rotation of the revolution rocker arm 21 and around the first support 23 and the
The centre bore of two supports 25 rotates.
First self-locking backstop 24 and the second self-locking backstop 26 are separately positioned on the both ends of the only lock shaft 22, only lock with described
Axis 22 is connected.
In the present embodiment, the first self-locking backstop 24, the second self-locking backstop 26 and the only lock shaft 22 are integral structure,
First self-locking backstop 24 and the second self-locking backstop 26 and the only lock shaft 22 are linkages.That is, only the rotation of lock shaft 22 will drive
First self-locking backstop 24 and the second self-locking backstop 26 rotate together.
Only lock steering engine 1 is connect with the revolution rocker arm 21, only locks the axis that steering engine 1 can drive revolution rocker arm 21 along only lock shaft
Rotation.
In the present embodiment, it is described according to above structure it is found that only the rotation of lock steering engine 1 drives revolution rocker arm 21 along only lock shaft
Axis rotation, only lock shaft with revolution rocker arm rotation and rotate, only lock shaft rotation drive both ends self-locking backstop turn together
It is dynamic.
Referring to Fig. 2, a kind of structural schematic diagram of self-locking backstop in the embodiment of the present invention is shown.
Such as Fig. 2, the first folding and unfolding rudderpost 31 is arranged in the first self-locking grooves 241 of the described first self-locking backstop 24；Second receives
Rudderpost 32 is put to be arranged in the second self-locking grooves 261 of the described second self-locking backstop 26.
In the present embodiment, the revolution locking device can be adjusted by different movements, realized and stopped lock function, reference
Fig. 3 shows a kind of only lock status variation schematic diagram in the embodiment of the present invention.
When the first self-locking backstop and the second self-locking backstop are in a horizontal position (initial position), such as Fig. 3 a, the first folding and unfolding
Rudderpost axial (Z-direction) locking, the second folding and unfolding rudderpost axial lock under the second self-locking backstop action under the first self-locking backstop action
Only.Such as Fig. 1, self-locking gear is horizontally disposed, the axis and horizontal plane of the first folding and unfolding rudderpost and the second folding and unfolding rudderpost, that is,
Folding and unfolding rudderpost is vertical with self-locking backstop.
When the first self-locking backstop and the second self-locking with the only lock shaft, only lock steering engine and turn round under the drive of rocker arm,
When rotating 90 ° along horizontal position, separated between self-locking backstop and folding and unfolding rudderpost, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost are in
Axially unlocked state can be rotated along folding and unfolding rudderpost axis.
When the first self-locking backstop and the second self-locking with the only lock shaft, only lock steering engine and turn round under the drive of rocker arm,
When rotating backward 90 ° and returning to horizontal position, the first folding and unfolding rudderpost axial locking, second folding and unfolding rudder under the first self-locking backstop action
Axis axial locking under the second self-locking backstop action.
In the preferred embodiment of the present invention, the outer profile of the first folding and unfolding rudderpost is polygon, the first folding and unfolding rudder
The polygon outer profile of axis and the first self-locking grooves Corresponding matching；The outer profile of second folding and unfolding rudderpost is polygon, described the
The polygon outer profile of two folding and unfolding rudderposts and the second self-locking grooves Corresponding matching.
Preferably, as shown in Figures 2 and 3, the outer profile of the first folding and unfolding rudderpost is quadrangle, and adjacent both sides angle is 90 °,
In outer right angle；The first self-locking grooves with the first folding and unfolding rudderpost Corresponding matching are in interior right angle；The outer profile of second folding and unfolding rudderpost
For quadrangle, adjacent both sides angle is 90 °, is in outer right angle；The second self-locking grooves with the second folding and unfolding rudderpost Corresponding matching are in
Interior right angle.Wherein, only lock principle is as follows: the interior right angle of self-locking backstop is engaged with the outer right-angle surface of folding and unfolding rudderpost, plays limit
Rotary action processed.
It is further preferred that when the first self-locking backstop and the second self-locking stop lock shaft, in only lock steering engine and revolution with described
Under the drive of rocker arm, when rotating 90 ° along horizontal position, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost are rotated along respective axis respectively
90°.That is, such as Fig. 3 b, when self-locking backstop and folding and unfolding rudderpost be in final position, folding and unfolding rudderpost rotates relative initial position turn
90 ° are moved.
In the present embodiment, the rotation for turning round rocker arm axis (X-direction) drives self-locking backstop motion, locks folding and unfolding rudderpost axis
The rotation of line (Z-direction), only lock is reliable.Only locking the function mainly realized includes: the locking folding and unfolding rudderpost rotation when rudder blade is fully extended
Turn, guarantee the fixation come about, prevents the structure of steering from connecting unstable state；When rudder blade recycles completely, folding and unfolding rudderpost is locked
Rotation, prevents the movement of rudder blade mechanism from causing mechanical damage or extraordinary noise problem.
In the preferred embodiment of the present invention, the revolution locking device can also include: 4 He of the first folding and unfolding steering engine
Second folding and unfolding steering engine 5.
In the present embodiment, the first folding and unfolding steering engine is connect with the first folding and unfolding rudderpost, the second folding and unfolding steering engine and the second folding and unfolding rudder
Arbor connection.When the first folding and unfolding rudderpost and the second folding and unfolding rudderpost in the unlocked state, the first folding and unfolding rudderpost and the second folding and unfolding rudder
Axis can rotate respectively under the action of the first folding and unfolding steering engine and the second folding and unfolding steering engine along folding and unfolding rudderpost axis.
In embodiments of the present invention, give one group of feasible dimensional parameters, certainly, this group of parameter in practical applications,
It can be adjusted according to the actual situation.Such as Fig. 4, a kind of size marking for turning round locking device in the embodiment of the present invention is shown
Schematic diagram.
Preferably, the spacing between the first folding and unfolding rudderpost and the second folding and unfolding rudderpost can with but be not limited only to as 2900mm；The
Spacing between one support and the second support can with but be not limited only to as 1000mm；The only axis of lock shaft and the first folding and unfolding rudderpost
Spacing between axis can with but be not limited only to as 180mm；Only between the axis of lock shaft and the axis of the second folding and unfolding rudderpost between
Away from can with but be not limited only to as 180mm；Spacing between first folding and unfolding steering engine and the second folding and unfolding steering engine can with but be not limited only to for
1900mm。
The embodiment of the present invention passes through the rational design of structure, position, size to self-locking backstop and folding and unfolding rudderpost, it is ensured that
The integral layout of the revolution locking device can satisfy requirement of the underwater hiding-machine bow rudder device to space, machine driving can
There is apparent advantage in property.
In assembly, only locks steering engine and be fixed by screws on latent device shell, only lock and pass through between steering engine and revolution rocker arm
Sliding block connection；Revolution rocker arm is fixed on latent device shell by the first support and the second support, and self-locking backstop and revolution rocker arm are logical
Flat key connection is crossed, power transmission torque is used for, obtains transmission component；Finally, installation folding and unfolding rudderpost, finally obtains the revolution only lock dress
It sets.
In control, revolution locking device receives the control instruction that control room is sent, and is controlled back using servo control technique
Turn locking device work, cooperation position Closed-loop Control Strategy realizes the movements such as the open and close of the revolution locking device, same with this
When implementing result, the operating status of manipulation device and fault message fed back into control room.
In conclusion revolution locking device of the present invention, is mainly used in underwater hiding-machine bow rudder device, it is complete in rudder blade
When stretching out work or full reduced time, the locking to folding and unfolding rudderpost may be implemented by the revolution locking device, which only locks dress
The protective device as entire bow rudder folding and unfolding movement is set, equipment damage caused by the maloperation of mechanical part is effectively prevented, is protected
The normal operation and safety of rudder system mechanical device are demonstrate,proved, which is that the innovation of China's underwater hiding-machine bow rudder is sent out
It is bright.
Secondly, by the rational design of structure and position to self-locking backstop and folding and unfolding rudderpost in revolution locking device,
Ensure it is described revolution locking device integral layout meet requirement of the underwater hiding-machine bow rudder device to space, machine driving can
There is apparent advantage in property.
In addition, revolution locking device of the present invention uses mechanical locking, self-locking backstop and folding and unfolding rudderpost axis phase
Mutually vertical, self-locking backstop and folding and unfolding rudderpost phase mutually stop, steering engine need to only be powered standby, be not necessarily to work, save the device energy of diving.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (7)
1. a kind of revolution locking device characterized by comprising only lock shaft, only lock steering engine, the first support, the second support, revolution
Rocker arm, the first self-locking backstop, the second self-locking backstop, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost；
The only centre bore that lock shaft sequentially passes through the first support, turns round rocker arm and the second support, with first support, revolution rocker arm
It is connected with the second support；Wherein, only lock shaft and revolution rocker arm are connected, with the rotation of the revolution rocker arm around the first support and the
The centre bore of two supports rotates；
First self-locking backstop and the second self-locking backstop are separately positioned on the both ends of the only lock shaft, are connected with the only lock shaft；
Only lock steering engine is connect with the revolution rocker arm, and only locking steering engine can drive revolution rocker arm along the axis rotation for stopping lock shaft；
First folding and unfolding rudderpost is arranged in the first self-locking grooves of the described first self-locking backstop；The setting of second folding and unfolding rudderpost is described the
In second self-locking grooves of two self-locking backstops；
Wherein,
When the first self-locking backstop and the second self-locking backstop are in a horizontal position, the first folding and unfolding rudderpost is in the first self-locking backstop action
Lower axial direction locking, the second folding and unfolding rudderpost axial locking under the second self-locking backstop action；First folding and unfolding rudderpost and the second folding and unfolding rudder
The axis and horizontal plane of axis；
When the first self-locking backstop and the second self-locking backstop stop lock shaft, under the drive of only lock steering engine and revolution rocker arm, edge with described
When horizontal position rotates 90 °, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost are in axially unlocked state, can be along folding and unfolding rudderpost axis
Rotation；
When the first self-locking backstop and the second self-locking backstop are with the only lock shaft, in only lock steering engine and turn round under the drive of rocker arm, anti-
When returning to horizontal position to 90 ° of rotation, the first folding and unfolding rudderpost axial locking, second folding and unfolding rudderpost under the first self-locking backstop action
The axial locking under the second self-locking backstop action.
2. revolution locking device according to claim 1, which is characterized in that
The outer profile of first folding and unfolding rudderpost is polygon, the polygon outer profile of the first folding and unfolding rudderpost and described first self-locking
Slot Corresponding matching；
The outer profile of second folding and unfolding rudderpost is polygon, the polygon outer profile of the second folding and unfolding rudderpost and described second self-locking
Slot Corresponding matching.
3. revolution locking device according to claim 2, which is characterized in that
The outer profile of first folding and unfolding rudderpost is quadrangle, and adjacent both sides angle is 90 °, is in outer right angle；With the first folding and unfolding rudder
First self-locking grooves of axis Corresponding matching are in interior right angle；
The outer profile of second folding and unfolding rudderpost is quadrangle, and adjacent both sides angle is 90 °, is in outer right angle；With the second folding and unfolding rudder
Second self-locking grooves of axis Corresponding matching are in interior right angle.
4. revolution locking device according to claim 3, which is characterized in that
When the first self-locking backstop and the second self-locking backstop stop lock shaft, under the drive of only lock steering engine and revolution rocker arm, edge with described
When horizontal position rotates 90 °, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost rotate 90 ° along respective axis respectively.
5. revolution locking device according to claim 1, which is characterized in that further include: the first folding and unfolding steering engine and second is received
Put steering engine；
First folding and unfolding steering engine is connect with the first folding and unfolding rudderpost, the second folding and unfolding steering engine and the second folding and unfolding steering engine axis connection；
When the first folding and unfolding rudderpost and the second folding and unfolding rudderpost in the unlocked state, the first folding and unfolding rudderpost and the second folding and unfolding rudderpost can divide
Not under the action of the first folding and unfolding steering engine and the second folding and unfolding steering engine, rotated along folding and unfolding rudderpost axis.
6. revolution locking device according to claim 1, which is characterized in that
Spacing between first folding and unfolding rudderpost and the second folding and unfolding rudderpost is 2900mm；
Spacing between first support and the second support is 1000mm；
Only the spacing between the axis of lock shaft and the axis of the first folding and unfolding rudderpost is 180mm；
Only the spacing between the axis of lock shaft and the axis of the second folding and unfolding rudderpost is 180mm.
7. revolution locking device according to claim 5, which is characterized in that
Spacing between first folding and unfolding steering engine and the second folding and unfolding steering engine is 1900mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790459.XA CN107697252B (en) | 2017-09-05 | 2017-09-05 | A kind of revolution locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710790459.XA CN107697252B (en) | 2017-09-05 | 2017-09-05 | A kind of revolution locking device |
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| Publication Number | Publication Date |
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| CN107697252A CN107697252A (en) | 2018-02-16 |
| CN107697252B true CN107697252B (en) | 2019-04-09 |
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|---|---|---|---|
| CN201710790459.XA Active CN107697252B (en) | 2017-09-05 | 2017-09-05 | A kind of revolution locking device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114954888A (en) * | 2022-01-26 | 2022-08-30 | 重庆大学 | Electric steering engine self-locking mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101074050A (en) * | 2007-06-25 | 2007-11-21 | 哈尔滨工程大学 | Modular steering engine of ship underwater |
| CN101211187A (en) * | 2007-10-23 | 2008-07-02 | 东莞华中科技大学制造工程研究院 | Coaxial superimposed multiple layer arbitrary angle rotary caging device |
| CN102267550A (en) * | 2011-05-13 | 2011-12-07 | 哈尔滨工程大学 | Pneumatic miniature tourist submarine cruciform rudder system |
| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN203864969U (en) * | 2014-03-14 | 2014-10-08 | 中国计量学院 | Underwater glider direction adjusting device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7793606B2 (en) * | 2007-02-13 | 2010-09-14 | Ion Geophysical Corporation | Position controller for a towed array |
-
2017
- 2017-09-05 CN CN201710790459.XA patent/CN107697252B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101074050A (en) * | 2007-06-25 | 2007-11-21 | 哈尔滨工程大学 | Modular steering engine of ship underwater |
| CN101211187A (en) * | 2007-10-23 | 2008-07-02 | 东莞华中科技大学制造工程研究院 | Coaxial superimposed multiple layer arbitrary angle rotary caging device |
| CN102267550A (en) * | 2011-05-13 | 2011-12-07 | 哈尔滨工程大学 | Pneumatic miniature tourist submarine cruciform rudder system |
| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN203864969U (en) * | 2014-03-14 | 2014-10-08 | 中国计量学院 | Underwater glider direction adjusting device |
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