CN108438183A - Oceanographic observation submersible - Google Patents
Oceanographic observation submersible Download PDFInfo
- Publication number
- CN108438183A CN108438183A CN201810403930.XA CN201810403930A CN108438183A CN 108438183 A CN108438183 A CN 108438183A CN 201810403930 A CN201810403930 A CN 201810403930A CN 108438183 A CN108438183 A CN 108438183A
- Authority
- CN
- China
- Prior art keywords
- connect
- submersible
- pressure casing
- oceanographic observation
- center
- 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.)
- Pending
Links
- 230000005484 gravity Effects 0.000 claims abstract description 33
- 230000001105 regulatory effect Effects 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 7
- 230000009467 reduction Effects 0.000 description 7
- 238000007667 floating Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of oceanographic observation submersible, including pressure casing, and pressure casing is hollow structure；Center of gravity regulating system, center of gravity regulating system are arranged in pressure casing；Control system, in pressure casing, control system is connect set-up of control system with center of gravity regulating system；Oil sac, oil sac are arranged in pressure casing, and oil sac is connect with center of gravity regulating system；Power supply, power supply are arranged in pressure casing, and power supply is connect with control system.Beneficial effects of the present invention are as follows：Submersible can carry out oceanographic observation with the pattern of profile buoy and underwater glider respectively, and can between two kinds of operating modes free switching, combine the advantage of profile buoy and underwater glider respectively, improve profile buoy can not autokinetic movement the shortcomings that, and increase the endurance of underwater glider.The oceanographic observation of acoustics and physics subject is combined, multi-angle is observed ocean, and scientist is helped to carry out the research of marine environment.
Description
Technical field
The present invention relates to Underwater Technology fields, particularly, are related to a kind of oceanographic observation submersible.
Background technology
The oceanographic observation submersible can mutually switch between two kinds of operating modes of profile buoy and underwater glider.Mesh
Preceding profile buoy is only capable of floating by ocean current, cannot carry out autokinetic movement, more when encountering vortex or stronger ocean current
A profile buoy cannot carry out corresponding oceanographic phenomena autonomous observation, be unfavorable for scientist to corresponding it is possible that aggregation
Oceanographic phenomena is comprehensively and effectively analysed scientifically.Current underwater glider has been widely applied the observation system of Yu Haiyang,
But due to the limitation of energy consumption, the endurance of profile buoy, 6 months left sides of most continuously-runnings is much not achieved in cruising ability
The right side, and in the most of the time in oceanographic observation, most of data are not much different, and need not continuously be observed.
Moreover, limitation of the current observation submersible due to loading the energy, single submersible can only carry single sensing
Device is observed ocean, and the data passed back are more single, is unfavorable for the comprehensive and accurate analysis ocean variation of scientist.
Invention content
For the defects in the prior art, it is an object of the invention to propose a kind of oceanographic observation submersible.
In order to solve the above technical problems, the present invention provides a kind of oceanographic observation submersible, including pressure casing, the pressure resistance
Shell is hollow structure；Center of gravity regulating system, the center of gravity regulating system are arranged in the pressure casing；Control system,
In the pressure casing, the control system is connect the set-up of control system with the center of gravity regulating system；Oil sac, it is described
Oil sac is arranged in the pressure casing, and the oil sac is connect with the center of gravity regulating system；Power supply, the power supply are arranged in institute
It states in pressure casing, the power supply is connect with the control system；The wherein described center of gravity regulating system includes：Longitudinally adjust machine
Structure；Lateral adjustment, the lateral adjustment are connect with the longitudinal adjusting mechanism, and the lateral adjustment can be along
The axial direction of the longitudinal adjusting mechanism slides；Balance weight mechanism, the balance weight mechanism are connect with the lateral adjustment；Institute
It includes polylith battery to state balance weight mechanism, and battery is fixedly connected by connecting plate described in polylith.
Preferably, the longitudinal adjusting mechanism includes：The quantity of support plate, the support plate is two pieces, two pieces of branch
Fagging parallel interval is arranged；The both ends of support tube, the support tube are connected by the support plate of connector and both sides respectively；
The both ends of supporting rod, the supporting rod are connect with the support plate of both sides respectively；Zigzag tread patterns component, the zigzag tread patterns group
Part setting is connect with the support plate.
Preferably, the zigzag tread patterns component includes：Longitudinal motor, the longitudinal motor are arranged by longitudinal deceleration case
In the support plate of side；The both ends of leading screw, the leading screw are connect with the support plate of both sides respectively, and the one of the leading screw
End is connect by longitudinal shaft coupling with the longitudinal motor and the longitudinal deceleration case.
Preferably, the lateral adjustment includes：The quantity of sliding panel, the sliding panel is two pieces, two pieces of cunnings
Movable plate parallel interval is arranged, and the support tube, the supporting rod and the leading screw are arranged in two pieces of sliding panels；The counter weight machine
The both ends of structure are connect with the sliding panel of both sides respectively, and the balance weight mechanism can be rotated around the support tube；Laterally driven group
Part, the laterally driven component are arranged on the sliding panel of side, and the laterally driven component is connect with the balance weight mechanism.
Preferably, it is respectively equipped with big linear bearing on the sliding panel of both sides；The big linear bearing in both sides
On be respectively equipped with rolling bearing, between the rolling bearing and the big linear bearing transition be connected；In the counter weight machine
One end of structure is equipped with support tube, and fixing piece, the fixing piece and the support tube point are equipped in the other end of the balance weight mechanism
It is not interference fitted and connects with the rolling bearing of both sides.
Preferably, a gear ring is connected by interference fit on the rolling bearing being connect with the support tube；
The working end of the laterally driven component is equipped with gear, and the gear is engaged with the gear ring.
Preferably, the laterally driven component includes：Cross motor, the cross motor are arranged by transversal deceleration case
On the sliding panel of side；Rotation angle potentiometer, the rotation angle potentiometer pass through lateral shaft coupling and the transverse direction
Motor and transversal deceleration case connection；The wherein described gear is arranged on the working end of the cross motor.
Preferably, it is equipped with nut in the junction of the leading screw and two pieces of sliding panels；The supporting rod with it is described
The junction of sliding panel is respectively equipped with small linear bearing；Straight-line displacement potentiometer is equipped in the support plate of the other side.
Preferably, it is equipped with hydrophone in the pressure casing, throws loading system, antenna, CTD sensors and altimeter, institute
Hydrophone, the throwing loading system, the antenna, the CTD sensors and the altimeter is stated to connect with the control system.
Preferably, horizontal wings and tail vertical tail, are equipped in the outside of the pressure casing.
Compared with prior art, beneficial effects of the present invention are as follows：
1. submersible can carry out oceanographic observation with the pattern of profile buoy and underwater glider respectively, and can be at two kinds
Free switching between operating mode combines the advantage of profile buoy and underwater glider respectively, and improving profile buoy can not be certainly
The shortcomings that main motion, and increase the endurance of underwater glider.
2. combining the oceanographic observation of acoustics and physics subject, multi-angle is observed ocean, help scientist into
The research of row marine environment.
3. the balance weight mechanism quality of movement is made of battery pack, instead of previous ballast, the stored energy source of equipment is increased.
4. balance weight mechanism can 360 ° of rotations, the lateral position of object center of gravity can be significantly alterred, to realize that section is floating
The switching of the operating mode of mark and underwater glider provides technical support.
5. the limited space of diving under water device is effectively utilized in structure characteristics of compact layout.Intermediate supports pipe can be used for cloth
Line avoids the inconvenience that external wiring is brought to system.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature mesh of the invention
And advantage will become more apparent upon.
Fig. 1 is oceanographic observation submersible structural schematic diagram of the present invention；
Fig. 2 is oceanographic observation submersible center of gravity regulating system structural schematic diagram of the present invention；
Fig. 3 is oceanographic observation submersible center of gravity regulating system sectional view of the present invention.
In figure：
1- straight-line displacement potentiometer 2- the first support plate the first nuts of 3-
4- leading screw 5- support tubes the second nuts of 6-
The longitudinal directions the 7- longitudinal directions shaft coupling 8- gear reduction box 9- longitudinal motors
The first small linear bearing 11- supporting rods 12- cell connectors of 10-
13- lithium battery 14- gear ring 15- rotation angle potentiometers
16- gear 17- transverse gear reduction box 18- cross motors
19- the second support plate 20- support tubes the first connectors of 21-
First big the first rolling bearings of linear bearing 23- 24- bearing retainers of 22-
Second largest the second rolling bearings of linear bearing 27- of the second connectors of 25- 26-
28- the first sliding panel the second sliding panels of 29- the second small linear bearings of 30-
31- oil sac 32- head ball end cap 33- center of gravity regulating systems
34- pressure casing 35- jettison system 36- horizontal wings
37- tail vertical tail, 38- hydrophone 39- altimeters
The 40-CTD sensors 41- Big Dippeves/GPS antenna 42- fixes battery pack
The tail portions 43- control system 44- Flat Lid
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
As shown in FIG. 1 to 3, the present invention provides a kind of oceanographic observation submersible, and oil sac 31 is mounted on head ball end cap
32, it is connected with the center of gravity regulating system 33 inside pressure casing 34 by oil pipe, for adjusting the buoyancy of entire submersible, is realized
The movement of floating dive；Altimeter 39 is installed simultaneously on head ball end cap 32；Center of gravity regulating system 33 is mainly used to adjust
The entire center of gravity of submersible and the position of centre of buoyancy, realize the adjustment of submersible posture；Fixed battery pack 42 (power supply) is used for providing
The energy of submersible and the Mass Distribution for balancing entire submersible；Control system 43 passes through fixing piece in submersible tail portion, centre
It is connected with tail portion Flat Lid 44；It is furnished with hydrophone 38, throwing loading system 35, the Big Dipper/GPS antenna 41 and CTD sensors in portion
40, it is connected to inside submersible by underwater electrical connector respectively；It is fixed on tail portion for vertical tail, 37, for increasing the steady of submersible
It is qualitative；Horizontal wings 36 are fixed on by clip outside submersible pressure casing 34.
When carrying out the general layout of submersible, the eccentric mass of center of gravity regulating system 33 and remaining fixed mass are carried out
Balanced arrangement so that when the gravity center shift of center of gravity regulating system 33, be equivalent to the variable quantity of other fixed mass centers of gravity, this is real
An important factor for existing operating mode switching.
Center of gravity regulating system 33 includes：Disposable lithium-battery 13 is fixed together composition by eight pieces of cell connectors 12
The both ends of counter weight construction, counter weight construction pass through bearing retainer 24 and bearing support cylinder 5 and the first rolling bearing 23 and respectively
The interference fit connection of two rolling bearings 27, two rolling bearings pass through with the first big linear bearing 22 and the second largest linear bearing 26
Transition is connected, and big linear bearing passes through support tube 20, and so as to be slided on it, support tube 20 connects by first
Fitting 21 and the second connector 25 are fixed in the first support plate 2 and the second support plate 19.Second rolling bearing 27 and gear ring
14 are connected by being interference fitted, and gear ring 14 coordinates with gear 16, and gear 16 is fixed on transverse gear reduction box 17 and laterally electricity
On machine 18, rotation angle potentiometer 15 is connect by lateral shaft coupling (not shown) with transverse gear reduction box 17.First
Big linear bearing 22 and the second largest linear bearing 26 are separately installed with the first sliding panel 28 and the second sliding panel 29, distinguish on two plates
First nut 3 and the second nut 6 are installed, linked together by leading screw 4, by longitudinal shaft coupling 7 and is indulged in 4 end of leading screw
It is connected to gear reduction box 8 with longitudinal motor 9；First small linear bearing is installed on first sliding panel 28 and the second sliding panel 29
10 and the second small linear bearing 30, it is connected by supporting rod 11,11 both ends of supporting rod are fixed on the support of the first support plate 2 and second
On plate 19.Straight-line displacement potentiometer 1 is fixed in the first support plate 2, and sliding end is fixed on the first sliding panel 28.
When needing the lengthwise position of center-of-gravity regulating, longitudinal motor 9 drives longitudinal gear reduction box 8 to rotate, and makes 4 turns of leading screw
It is dynamic, to drive the part among the first sliding panel 28 and the second sliding panel 29 along branch by the first nut 3 and the second nut 6
Stay tube 20 and supporting rod 11 slide, and then change the lengthwise position of whole center of gravity, and can be learnt and be matched by linear position potentiometer 1
The distance of heavy-duty machine structure movement, feeds back to master control system.
When needing the lateral position of center-of-gravity regulating, cross motor 18 drives transverse gear reduction box 17, makes 16 turns of gear
It is dynamic, to drive gear ring 14 to rotate so that balance weight mechanism by the first rolling bearing 23 and the second rolling bearing 27 around
The rotation of support tube 20, and can learn the angle of rotation by rotation angle potentiometer 15, to obtain the lateral displacement of center of gravity,
Feed back to master control system.
When submersible is with buoy mode operation, balance weight mechanism is located at fixed position, eccentric mass and other fixed masses
Balance so that the position of centre of gravity of submersible and hull position are all on vertical central axes, and center of gravity is located at below centre of buoyancy so that dive
Hydrophone is in state vertically downward, the as operating mode of profile buoy in water, by changing hydraulic oil in oil sac 31
Volume changes the displacement of volume of submersible, to realizing floating and dive.
When submersible will be run with underwater glider mode operation, cross motor 18, drive balance weight mechanism rotates so that latent
Hydrophone deviation of gravity center indulges central axes so that submersible has certain inclination angle, and then longitudinal motor 9 is run, and moves backward counter weight machine
Structure so that center of gravity is moved to submersible tail portion, and more than the position of centre of buoyancy, to make submersible have the trim of head upward
Angle.To which submersible has the function of the horizontal movement of underwater glider.
When balance weight mechanism moves back to initial fixed position, center of gravity is returned to original position at this time, under being located at centre of buoyancy just
Side, and all on vertical central axes, submersible switches back into buoy state again.
The characteristics of both submersibles, is combined by the present invention, combines respective advantage, improves existing underwater gliding
Submersible can be cut between the operating mode of two kinds of observation devices of profile buoy and underwater glider for the attitude regulation system of machine
It changes.Submersible is usually worked with the pattern of profile buoy, is observed to the marine environment in certain region, and with ocean
In ocean current floating, when encountering vortex, ocean current or the interested marine environment of scientist, submersible is switched to underwater glider
Operating mode, corresponding marine environment is tracked and autonomous comprehensive observation.Such mode improve profile buoy with
The motion mode of wave valley-fill, and substantially increase the cruising ability of underwater glider.The submersible application carbon fibre of composite material
Lightweight shell, a large amount of battery is carried, and be equipped with physics, acoustics and chemical sensor, when can carry out long to ocean
Between, multidisciplinary and multi-field observation, comprehensive data can be provided for a long time to scientist and supported.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of oceanographic observation submersible, which is characterized in that including：
Pressure casing, the pressure casing are hollow structure；
Center of gravity regulating system, the center of gravity regulating system are arranged in the pressure casing；
Control system, the set-up of control system is in the pressure casing, the control system and the center of gravity regulating system
Connection；
Oil sac, the oil sac are arranged in the pressure casing, and the oil sac is connect with the center of gravity regulating system；
Power supply, the power supply are arranged in the pressure casing, and the power supply is connect with the control system；Wherein
The center of gravity regulating system includes：
Longitudinal adjusting mechanism；
Lateral adjustment, the lateral adjustment are connect with the longitudinal adjusting mechanism, and the lateral adjustment can edge
The axial direction sliding of the longitudinal adjusting mechanism；
Balance weight mechanism, the balance weight mechanism are connect with the lateral adjustment；
The balance weight mechanism includes polylith battery, and battery is fixedly connected by connecting plate described in polylith.
2. oceanographic observation submersible according to claim 1, which is characterized in that the longitudinal adjusting mechanism includes：
The quantity of support plate, the support plate is two pieces, two pieces of support plate parallel interval settings；
The both ends of support tube, the support tube are connected by the support plate of connector and both sides respectively；
The both ends of supporting rod, the supporting rod are connect with the support plate of both sides respectively；
Zigzag tread patterns component, the zigzag tread patterns component setting are connect with the support plate.
3. oceanographic observation submersible according to claim 2, which is characterized in that the zigzag tread patterns component includes：
Longitudinal motor, the longitudinal motor are arranged by longitudinal deceleration case in the support plate of side；
The both ends of leading screw, the leading screw are connect with the support plate of both sides respectively, and one end of the leading screw passes through longitudinal shaft coupling
Device is connect with the longitudinal motor and the longitudinal deceleration case.
4. oceanographic observation submersible according to claim 3, which is characterized in that the lateral adjustment includes：
Sliding panel, the quantity of the sliding panel are two pieces, two pieces of sliding panel parallel intervals settings, the support tube, described
Supporting rod and the leading screw are arranged in two pieces of sliding panels；
The both ends of the balance weight mechanism are connect with the sliding panel of both sides respectively, and the balance weight mechanism can be around the support tube
Rotation；
Laterally driven component, the laterally driven component are arranged on the sliding panel of side, the laterally driven component with
The balance weight mechanism connection.
5. oceanographic observation submersible according to claim 4, which is characterized in that set respectively on the sliding panel of both sides
There is big linear bearing；
Rolling bearing is respectively equipped on the big linear bearing of both sides, between the rolling bearing and the big linear bearing
Transition is connected；
It is equipped with support tube in one end of the balance weight mechanism, fixing piece, the fixation are equipped in the other end of the balance weight mechanism
Part and the support tube are interference fitted with the rolling bearing of both sides respectively to be connected.
6. oceanographic observation submersible according to claim 5, which is characterized in that in the rolling being connect with the support tube
A gear ring is connected by interference fit on dynamic bearing；
Gear is equipped on the working end of the laterally driven component, the gear is engaged with the gear ring.
7. oceanographic observation submersible according to claim 6, which is characterized in that the laterally driven component includes：
Cross motor, the cross motor are arranged by transversal deceleration case on the sliding panel of side；
Rotation angle potentiometer, the rotation angle potentiometer are subtracted by lateral shaft coupling and the cross motor and the transverse direction
Fast case connection；Wherein
The gear is arranged on the working end of the cross motor.
8. oceanographic observation submersible according to claim 4, which is characterized in that in the leading screw and two pieces of sliding panels
Junction be equipped with nut；
It is respectively equipped with small linear bearing in the junction of the supporting rod and the sliding panel；
Straight-line displacement potentiometer is equipped in the support plate of the other side.
9. oceanographic observation submersible according to claim 4, which is characterized in that listened equipped with water in the pressure casing
Device throws loading system, antenna, CTD sensors and altimeter, and the hydrophone, the throwing loading system, the antenna, the CTD are passed
Sensor and the altimeter are connect with the control system.
10. oceanographic observation submersible according to claim 1, which is characterized in that be equipped in the outside of the pressure casing
Horizontal wings and tail vertical tail,.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403930.XA CN108438183A (en) | 2018-04-28 | 2018-04-28 | Oceanographic observation submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403930.XA CN108438183A (en) | 2018-04-28 | 2018-04-28 | Oceanographic observation submersible |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108438183A true CN108438183A (en) | 2018-08-24 |
Family
ID=63202500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810403930.XA Pending CN108438183A (en) | 2018-04-28 | 2018-04-28 | Oceanographic observation submersible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108438183A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050848A (en) * | 2018-10-17 | 2018-12-21 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
| CN109080801A (en) * | 2018-09-07 | 2018-12-25 | 大连海事大学 | A kind of mixed motivity type underwater glider based on the driving of the tandem wing |
| CN109080802A (en) * | 2018-09-07 | 2018-12-25 | 大连海事大学 | A kind of mixed motivity type aerodone based on bat wing driving |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN111924044A (en) * | 2020-08-13 | 2020-11-13 | 中山大学 | Maneuvering ocean observation platform capable of working underwater for long time |
| CN113799950A (en) * | 2021-09-10 | 2021-12-17 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
| CN114839693A (en) * | 2022-07-01 | 2022-08-02 | 自然资源部第一海洋研究所 | Deep sea autonomous environment monitoring platform capable of autonomously moving and monitoring multiple stations at fixed points |
| CN115959272A (en) * | 2023-01-04 | 2023-04-14 | 北京先驱高技术开发有限责任公司 | Sectional type modularization underwater robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN104401474A (en) * | 2014-09-18 | 2015-03-11 | 青岛远创机器人自动化有限公司 | Moving posture control device for underwater glider |
| CN104401473A (en) * | 2014-09-18 | 2015-03-11 | 中国海洋大学 | Underwater acoustic glider |
| CN105501417A (en) * | 2015-11-30 | 2016-04-20 | 天津大学 | Underwater aerodone compact gesture adjusting device |
| CN207208415U (en) * | 2017-04-21 | 2018-04-10 | 上海交通大学 | Underwater glider |
| CN208630832U (en) * | 2018-04-28 | 2019-03-22 | 上海交通大学 | Oceanographic observation submersible |
-
2018
- 2018-04-28 CN CN201810403930.XA patent/CN108438183A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070092A (en) * | 2007-06-11 | 2007-11-14 | 天津大学 | Hybrid driven under-water self-navigation device |
| CN103587666A (en) * | 2013-11-15 | 2014-02-19 | 华中科技大学 | Center-of-mass adjusting device of deep sea glider |
| CN104401474A (en) * | 2014-09-18 | 2015-03-11 | 青岛远创机器人自动化有限公司 | Moving posture control device for underwater glider |
| CN104401473A (en) * | 2014-09-18 | 2015-03-11 | 中国海洋大学 | Underwater acoustic glider |
| CN105501417A (en) * | 2015-11-30 | 2016-04-20 | 天津大学 | Underwater aerodone compact gesture adjusting device |
| CN207208415U (en) * | 2017-04-21 | 2018-04-10 | 上海交通大学 | Underwater glider |
| CN208630832U (en) * | 2018-04-28 | 2019-03-22 | 上海交通大学 | Oceanographic observation submersible |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109080801A (en) * | 2018-09-07 | 2018-12-25 | 大连海事大学 | A kind of mixed motivity type underwater glider based on the driving of the tandem wing |
| CN109080802A (en) * | 2018-09-07 | 2018-12-25 | 大连海事大学 | A kind of mixed motivity type aerodone based on bat wing driving |
| CN109050848A (en) * | 2018-10-17 | 2018-12-21 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN110641664A (en) * | 2019-09-21 | 2020-01-03 | 天津大学 | Large heavy-load underwater glider and control method thereof |
| CN111924044A (en) * | 2020-08-13 | 2020-11-13 | 中山大学 | Maneuvering ocean observation platform capable of working underwater for long time |
| CN113799950A (en) * | 2021-09-10 | 2021-12-17 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
| CN114839693A (en) * | 2022-07-01 | 2022-08-02 | 自然资源部第一海洋研究所 | Deep sea autonomous environment monitoring platform capable of autonomously moving and monitoring multiple stations at fixed points |
| CN115959272A (en) * | 2023-01-04 | 2023-04-14 | 北京先驱高技术开发有限责任公司 | Sectional type modularization underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108438183A (en) | Oceanographic observation submersible | |
| CN110304223B (en) | Bionic machine bat ray | |
| CN108674617A (en) | Underwater intelligent floating instrument device and its control system | |
| CN207208415U (en) | Underwater glider | |
| Liang et al. | Development of a two‐joint robotic fish for real‐world exploration | |
| CN109018271B (en) | Novel large-span hybrid drive unmanned underwater vehicle | |
| CN102632980A (en) | Underwater glider utilizing ocean wave energy and charging method | |
| CN104590496B (en) | Long-distance autonomous wave glider without power consumption | |
| CN108656885A (en) | Tilting rotor air-sea amphibious robot | |
| CN103303438A (en) | Quick disassembling and assembling shallow diving line type unmanned ship | |
| CN101475055A (en) | Underwater robot | |
| CN208630832U (en) | Oceanographic observation submersible | |
| CN201143991Y (en) | Bionic turtle underwater robot | |
| CN103507929A (en) | Combination wing anti-stream-pattern underwater glider | |
| CN109878666A (en) | A kind of leading edge rotational circle column type wing control underwater towed vehicle, | |
| CN106218840A (en) | A kind of dish-shaped submarine navigation device based on eddying motion | |
| CN201002714Y (en) | Underwater hydrofoil imitation propulsion unit | |
| CN105346695A (en) | Quad-rotor mini-type underwater vehicle | |
| CN103832564A (en) | Shuttle-shaped underwater glider design and control method | |
| CN208393605U (en) | Underwater intelligent floating instrument device and its control system | |
| CN103940411B (en) | A kind of portable untethered fixed point section plotter | |
| CN108408010A (en) | A kind of underwater glider wing and its control and working method | |
| CN105539779A (en) | Portable underwater aerial photography remote operated vehicle and control method thereof | |
| CN106926997B (en) | A kind of underwater robot centroid adjustment device | |
| CN110282100A (en) | The submarine navigation device of torpedo main body multiple degrees of freedom manipulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |