CN110758671A - Comprehensive performance test platform and test method for thruster of cabled underwater robot - Google Patents
Comprehensive performance test platform and test method for thruster of cabled underwater robot Download PDFInfo
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- CN110758671A CN110758671A CN201911181392.5A CN201911181392A CN110758671A CN 110758671 A CN110758671 A CN 110758671A CN 201911181392 A CN201911181392 A CN 201911181392A CN 110758671 A CN110758671 A CN 110758671A
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Abstract
The invention discloses a comprehensive performance test platform and a comprehensive performance test method for a thruster of a cabled underwater robot. The platform comprises a water pool and a main body support erected on the water pool, wherein an instrument placing platform, a pulling and pressing sensor, a rotating shaft and a first connecting rod mechanism are arranged on the main body support, one end of the first connecting rod mechanism is rotatably connected with the rotating shaft, the other end of the first connecting rod mechanism is connected with the pulling and pressing sensor arranged on the instrument placing platform, a second connecting rod mechanism capable of changing length through stretching is arranged on the first connecting rod mechanism, a propeller is connected to the lower end of the second connecting rod mechanism, and the propeller is located in the water pool. The invention changes the force of the thruster acting on the tension and compression sensor by adjusting the distance ratio between the rotating shaft and the thruster and the tension and compression sensor, and ensures that the thruster is in the only fixed sensor measuring range; the invention can effectively improve the measurement precision of the thrust of the underwater robot propeller.
Description
Technical Field
The invention relates to a propeller performance test platform and a test method, in particular to a comprehensive performance test platform and a test method for a propeller of a cabled underwater robot.
Background
Cabled underwater Robots (ROVs) are increasingly being widely used for inspection and waste removal of wharf and wharf pile foundations, bridges, and underwater portions of dams. In order to verify the performance and stability of the cabled underwater robot, the cabled underwater robot needs to be subjected to corresponding performance test and analysis so as to verify whether the cabled underwater robot meets the expected design requirements. The propeller is a power source of the underwater robot with the cable, and determines the mobility of the underwater robot with the cable. Therefore, the reliability, the working performance and the reliability of the cabled underwater robot are improved, and the method is of great importance for the performance test and the analysis development research of the cable underwater robot propeller.
The invention patent with application number 201710532408.7 uses the lever principle to transmit the pushing force of the propeller, but when the lever is inclined, the lever will deflect a certain distance up and down in the process of pushing or pulling two ends, which may cause the change of the force direction, thereby having the problem of inaccurate measuring result. Patent No. 201721425608.4 also measures force by the transmission principle of the equiarm levers, but does not address the versatility of different power propeller tests. Patent No. 201910256884.X measures thrust of a thruster of an underwater robot through deformation of a spring, but friction force generated when the thruster moves along a linear guide rail influences a test result. In addition to the above problems, the test schemes disclosed in these three patents can only test thrust, and no mention is made of the test methods for other performance parameters of the propeller.
In summary, at present, a comprehensive performance test platform which can accurately measure the thrust of the thruster of the cabled underwater robot and has universality for thrusters with different powers does not exist.
Disclosure of Invention
The comprehensive performance test of the thruster of the cabled underwater robot mainly comprises thrust, rotating speed, power and the like. Most of the prior inventions can only carry out thrust test and have insufficient precision. According to the technical scheme, the platform can be multipurpose while the accuracy of the thrust test is ensured, and the rotating speed and the power of the propellers with different specifications can be tested while the thrust of the propellers with different specifications is tested.
The invention adopts the following technical scheme:
the invention provides a comprehensive performance testing platform for a thruster of a cabled underwater robot, which comprises a water pool and a main body support erected on the water pool, wherein an instrument placing platform, a tension and compression sensor, a rotating shaft and a first connecting rod mechanism are arranged on the main body support, one end of the first connecting rod mechanism is rotatably connected with the rotating shaft, the other end of the first connecting rod mechanism is connected with the tension and compression sensor arranged on the instrument placing platform, a second connecting rod mechanism capable of changing length through stretching is arranged on the first connecting rod mechanism, the lower end of the second connecting rod mechanism is connected with the thruster, and the thruster is positioned in the water pool.
Furthermore, first link mechanism is right angle triangle pole, the right angle end and the pivot of right angle triangle pole are rotationally connected, and an acute angle end links to each other with the pressure sensor that draws that sets up on instrument place the platform.
Furthermore, the second link mechanism comprises a second link rod and a stepping motor, the second link rod is arranged on the first link mechanism, a rack is arranged on the second link rod, the stepping motor is matched with the rack of the second link rod through a gear, so that the second link rod can move up and down relative to the first link mechanism, and the lower end of the second link rod is connected with a propeller.
Furthermore, the second connecting rod comprises an external telescopic rod and an internal telescopic rod, a rack is arranged on the external telescopic rod, the external telescopic rod can move up and down relative to the first connecting rod mechanism by means of the rack cooperation of a gear and the external telescopic rod of the stepping motor, the internal telescopic rod is arranged inside the external telescopic rod, the lower end of the internal telescopic rod is connected with a propeller, bolt holes are formed in the external telescopic rod and the internal telescopic rod, and the extension length of the internal telescopic rod relative to the external telescopic rod can be adjusted by means of the correspondence of the different bolt holes.
Furthermore, the propeller also comprises a triangular bracket, and the lower end of the second connecting rod is connected with the propeller through the triangular bracket.
Furthermore, the device also comprises a laser sensor, wherein the laser sensor is arranged in the water pool; the first connecting rod mechanism, the second connecting rod mechanism, the tension and compression sensor and the rotating shaft are all arranged outside the water pool.
The invention also provides a comprehensive performance test method of the thruster of the cabled underwater robot, which is characterized in that the effective test range of the thrust is adjusted by adjusting the force arm, namely, the force acted on the tension and compression sensor by the thruster is changed by adjusting the distance ratio between the rotating shaft and the thruster and the tension and compression sensor, so that the thruster is ensured to be in the unique fixed sensor measurement range, and the comprehensive performance test is carried out on the thrusters with different specifications; the center of gravity of the rotating part capable of rotating around the rotating shaft is arranged on one side of the rotating shaft bias tension pressure sensor, and the propeller is already provided with a reading before being installed, namely when the propeller is unloaded, and the influence of other factors such as friction force and the like is effectively eliminated in a final measurement result through the reading.
Furthermore, the water pool is placed in the platform, only the propeller and the laser sensor are placed in the water, and the main body support is fixed on the ground.
Furthermore, the propeller is connected with the second connecting rod mechanism through a double-triangular support structure, so that the deformation degree of the rotating shaft when the propeller is tested is reduced.
Furthermore, the length of the force arm of the thrusters with different specifications is measured and calculated and correspondingly adjusted; testing the positive and negative rotating thrust of the thrusters with different specifications by adopting torque; carrying out rotation speed performance test on the propeller by adopting a laser sensor; the power box provides the required voltage and current, so that the comprehensive test of the performance of the propeller is realized; the method comprises the following specific steps:
(1) arranging an experimental water pool, and mounting a propeller on a triangular connecting rod; before the thrust of the propeller is tested, estimating the specification of the propeller, and adjusting the length ratio of the force arm to a proper value according to the specification of the propeller;
(2) reading and recording the numerical value of the tension and compression sensor when the propeller is not opened;
(3) inputting the voltage and the current of the propeller by adopting a power box, namely testing other performances of the propeller under the known power; firstly, under the known condition, the propeller is pushed forward, and the two force arms rotate around the shaft to act on the tension and compression sensor; recording the forward thrust data of the thruster, slowly adjusting the thrust of the thruster, reading the value of the tension and compression sensor and recording the value; subtracting the reading of the sensor when the propeller is not started from the value, and dividing the value by the ratio of L1+ L3 to L2 to obtain the maximum positive thrust of the tested propeller;
(4) opening a laser sensor, measuring the speed, and adjusting if the position deviation is found;
(5) when other propellers with different powers need to be tested, the length of the force arm is adjusted again according to the specification of the propeller
The invention has the following beneficial effects:
the platform changes the force of the thruster acting on the tension and compression sensor by adjusting the distance ratio between the rotating shaft and the thruster and the tension and compression sensor, thereby ensuring that the thruster is in the only fixed sensor measuring range; according to the invention, only the propeller and the laser sensor are placed in water, so that the whole test platform is prevented from rotating due to reaction torque, and errors generated by a thrust test are reduced; the invention adopts a double-triangular support structure, thereby greatly reducing the deformation degree of the rotating shaft when the power propeller is tested and improving the test precision; the scheme of the invention can effectively improve the measurement precision of the thrust of the underwater robot propeller.
Drawings
FIG. 1 is a schematic view of the torque balance of the propeller and sensor (with the bracket, pool and flexible hose removed)
FIG. 2 is a schematic view of the reaction moment of the force arm by the propeller
FIG. 3 is a schematic view of the triangular support of the present invention under the reaction torque of the propeller
FIG. 4 is a schematic diagram of gravity and pressure of the pull and press sensor when the pusher is on
FIG. 5 is a comprehensive performance testing platform of a propeller
FIG. 6 is a view showing the structure of a gear case (with an upper cover and a part of screws removed)
FIG. 7 shows propeller reaction torque
In the figure: 1. an instrument placement platform; 2. an S-shaped tension and compression sensor; 3. a triangular rod; 4. a stepping motor; 5. a gear case; 6. a bolt; 7. an external telescoping rod; 8. a power test box; 9. an inner telescoping rod; 10. a main body support; 11. a pool; 12. a laser sensor; 13. a propeller; 14. a pinion gear; 15. a bull gear; 16. a rotating shaft; 17. a triangular bracket; 18. steering the propeller; 19. the reaction moment direction.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The comprehensive performance testing platform of the underwater robot propeller with the cable is shown in fig. 5 and comprises a water pool 11 and a main body support 10 erected on the water pool 11, wherein an instrument placing platform 1, an S-shaped tension and compression sensor 2, a rotating shaft 16 and a first connecting rod mechanism are arranged on the main body support 10. One end of the first link mechanism is rotatably connected with the rotating shaft 16, and the other end is connected with the S-shaped tension-compression sensor 2 arranged on the instrument placing platform 1. The first link mechanism is provided with a second link mechanism which can change the length through stretching, the lower end of the second link mechanism is connected with a propeller 13, and the propeller 13 is positioned in the water pool 11. And a power test box 8 is also arranged on the instrument placing platform 1. The laser sensor 12 is fixed to the main body frame 10 by an elastic hose.
As a preferred structure of the present invention, the first link mechanism is a triangular rod 3 having a right triangle structure, a right angle end of the triangular rod 3 is rotatably connected to the rotating shaft 16, and an acute end thereof is connected to the S-shaped tension/compression sensor 2 disposed on the instrument placement platform 1.
In order to realize that the arm of force can change the length by stretching, the second link mechanism of the present invention may specifically include a second link and a stepping motor 4, the second link is disposed on the first link mechanism, a rack is disposed on the second link, the stepping motor 4 is matched with the rack of the second link through a gear (preferably, a structure of a large gear 15 and a small gear 14 as shown in fig. 6, the large gear 15 and the small gear 14 are disposed in the gear box 5), so that the second link can move up and down relative to the first link mechanism, and a propeller 13 is connected to the lower end of the second link.
To achieve a coarse adjustment of the length of the moment arm, the second link may comprise an outer telescopic rod 7 and an inner telescopic rod 9. The external telescopic rod 7 is provided with a rack, and the stepping motor 4 is matched with the rack of the external telescopic rod 7 through a gear (preferably, a structure of a large gear 15 and a small gear 14 as shown in fig. 6) so that the external telescopic rod 7 can move up and down relative to the first link mechanism. The inside of outside telescopic link 7 is provided with inside telescopic link 9, and the lower extreme of inside telescopic link 9 is connected with propeller 13. All be provided with the bolt hole on outside telescopic link 7 and the inside telescopic link 9, through the correspondence in different bolt holes, utilize bolt 6, adjustable inside telescopic link 9 is for the extension length of outside telescopic link 7.
In order to improve the measurement accuracy and reduce errors, the lower end of the inner telescopic rod 9 can be connected with the propeller 13 through a triangular bracket 17.
The measurement principle and effect of the present invention will be further described below.
The invention provides a method for adjusting the effective test range of thrust by adjusting the force arm so as to test the comprehensive performance of propellers of different specifications. A conventional measurement platform generally fixes a pressure sensor, and measures the thrust of a common cable underwater robot propeller, such as a T400 propeller (forward thrust is 10.5kg) of tianjin hao ye technologies ltd, and then a T318B tension and compression sensor (range is 5-50kg) is adopted.
But the measuring platform has universality while ensuring the precision. At present, the underwater robot with the cable has more types of propellers, and the thrust range is from one kilogram to two kilograms to hundreds of kilograms. The precision and the measuring range of the sensor can not be obtained at the same time, and the testing requirements of all the propellers are difficult to meet while the testing precision is ensured by using the tension and compression sensor. Therefore, the platform changes the force of the propeller acting on the tension and compression sensor by adjusting the distance ratio between the rotating shaft and the propeller and the tension and compression sensor, and ensures that the propeller is in the only fixed sensor measuring range.
The general test system can also realize testing the sensors with larger thrust difference by replacing the pull-press sensors with different specifications, but the sizes of the different pull-press sensors have certain difference, and the structural design difficulty of the test system is greatly increased. Frequent replacement of the sensors also greatly accelerates wear of system parts, resulting in degradation of the precision of the test system and greatly shortens the service life of the test system.
A plurality of holes capable of being matched with the cylindrical bolts are drilled on the telescopic sliding rod on one side of the test platform, the distance between the telescopic sliding rod and the propeller mounting support is suitable for propellers of common specifications on the market, and the telescopic sliding rod is inserted into the corresponding hole to be fixed so as to finish the rough adjustment of a user to the force arm. If the user needs to carry out accurate adjustment, the gear and the rack pair L can be driven by controlling the stepping motor3Is adjusted. The rod on the other side is marked with scales, so that a user can be helped to carry out accurate adjustment.
The thrust generated by the propeller is balanced with the moment generated by the pressure of the bracket on the triangular rod on the rotating shaft, and the moment is shown in figure 1. Namely:
(L1+L3)×F1＝L2×F2
L1: distance from rotating shaft to mounting position of propeller
L2: distance from rotating shaft to tension and compression sensor
L3: distance from propeller center to propeller mounting position
F1: thrust of propeller
F2: pressure of the support on the triangular rod
The test system uses a T318B tension and compression sensor (measuring range is 5-50kg), and when a Model 150 propeller (forward thrust is 2.1kg) of Tecnadyne is required to be tested, the L1+ L3: l2 ═ 3: 1. The thrust applied to the tension and compression sensor is about three times of the normal thrust of the propeller, namely about 6.3kg, and is within the measuring range of the sensor. And removing the reading of the sensor by 3:1 to obtain the actual thrust value of the propeller.
The invention provides that the experimental water pool is placed in the platform, and only the propeller and the laser sensor are placed in water. The propeller blades rotate in the water while generating a reaction moment on the entire test platform opposite to the direction of rotation (as shown in fig. 7). When the whole mechanism is placed in water and is not fixed on the ground, the reaction moment can enable the whole test platform to rotate, and errors are generated in the thrust test. Therefore, the propeller and the laser sensor are only placed in the experimental water pool, and the integral support is fixed on the ground. The foundation screws on the support can generate torque enough to balance the reaction torque, so that the test platform is fixed.
And thirdly, the double-triangular support structure is adopted, so that the deformation degree of the rotating shaft when the power propeller is tested is greatly reduced, and the testing precision is improved.
The traditional thrust test platform (such as the invention patent with the application number of 201710532408.7) uses a single rod to connect a propeller and a tension-compression sensor, and when the power of the propeller is larger, the test precision is easily affected due to the overlarge deflection of a rotating shaft and a connecting rod. Taking the invention patent with application number 201710532408.7 as an example, the condition that the component "4-arm" is acted by the reaction torque of the propeller can be simplified to figure 2.
Wherein point a is the mounting point of the member 4 on the rotating shaft, point B is the mounting point of the propeller on the member, and M is the reaction moment of the propeller on the member. x is the length of a point on the member from the axis of rotation. Therefore, the flexural line equation is:
where EI is the flexural section stiffness of the beam. If the cross-section of the beam is circular, then:
substituting it to obtain:
this is why. When the reaction moment of the propeller is large or the rigidity of the bending section of the beam is insufficient, the propeller is easy to generate large deformation to influence the precision of the test platform.
The triangular support structure adopted by the patent can convert the torque into positive pressure and positive tension on two telescopic rods as shown in figure 3, and the two are as follows:
the degree of deformation of each rod is then:
compare it with the former:
in general, L > > d, the inventive solution is much less deformable than the previous solution at the location where the propeller is installed (x is of the same order as L). Thereby the precision of test platform has been guaranteed better.
And fourthly, the scheme of the invention can effectively improve the measurement precision of the thrust of the underwater robot propeller. The center of gravity of the rotating part around the rotating shaft is arranged on one side of the rotating shaft bias tension pressure sensor, and the propeller has a reading before being installed, namely when the propeller is in no load, so that the influence of other factors such as friction and the like in a final measurement result is effectively eliminated through the reading, and the measurement precision is further improved. The specific analysis process is as follows: let its gravity be P and distance from the rotating shaft be L4The pressure generated by the tension and compression sensor on the bracket for balancing the force is F3As shown in fig. 4.
The moment generated by the two forces on the rotating shaft is balanced, and the following results can be obtained:
F3·L2＝P·L4
F3＝L2·P/L4
if the friction force generated when the mechanism rotates is f, the measured force of the tension and compression sensor in the idle state is L2·P/L4-f。
When the propeller is turned on, the sensor reads F1+L2·P/L4F, so subtracting the two values results inThruster thrust (F)1) The exact numerical value of (c). While the solutions of other patents cannot effectively obtain readings such as friction, i.e., it is difficult to eliminate the effect of friction in the final result.
The invention discloses a method for testing the comprehensive performance of a thruster of a cabled underwater robot, which comprises the following steps: measuring and calculating the length of the force arm of the thrusters with different specifications and correspondingly adjusting the length; testing the positive and negative rotating thrust of the thrusters with different specifications by adopting torque; carrying out rotation speed performance test on the propeller by adopting a laser sensor; the power box provides the voltage and the current that want, realizes a comprehensive test of platform propeller performance, and concrete step is:
step one, arranging an experimental water pool, and installing a propeller on a triangular connecting rod. Before the thrust of the propeller is tested, the specifications (radius and maximum power of a motor) of the propeller are estimated, and the length ratio of the force arm is adjusted to a proper value according to the specifications of the propeller.
And step two, reading and recording the numerical value of the pressure sensor when the propeller is not opened.
And step three, inputting the voltage and the current of the propeller by using the power box, namely testing other performances of the propeller under the known power. Firstly, under the known condition, the propeller is pushed forward, and the two force arms rotate around the shaft to act on the tension and compression sensor. And recording the forward thrust data of the thruster, slowly adjusting the thrust of the thruster, and reading and recording the numerical value of the tension and compression sensor. The maximum positive thrust of the tested thruster can be obtained by subtracting the reading of the sensor when the thruster is not started and dividing by the ratio of L1+ L3 to L2.
And step four, turning on the laser sensor to measure the speed (if the position deviation is found, adjusting).
And step five, when other propellers with different powers need to be tested, the length of the force arm needs to be adjusted again according to the specification of the propeller. During adjustment, the hole matched with the bolt can be directly replaced, and calibration is carried out through the scale on the other side. If accurate adjustment is needed, the scale reading on the right side can be adjusted to meet the preset requirement by using the stepping motor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a there is cable underwater robot propeller comprehensive properties test platform which characterized in that: including the pond, erect the main part support on the pond, be provided with instrument place the platform on the main part support, draw and press sensor, pivot and first link mechanism, first link mechanism's one end and pivot are rotationally connected, and the other end links to each other with the pressure sensor that draws that sets up on instrument place the platform, be provided with the flexible second link mechanism who changes length of accessible on the first link mechanism, second link mechanism's lower extreme is connected with the propeller, the propeller is located the pond.
2. The comprehensive performance testing platform for the thruster of the cabled underwater robot of claim 1, characterized in that: first link mechanism is right angle triangle pole, the right angle end and the pivot of right angle triangle pole are rotationally connected, and an acute angle end links to each other with the pressure sensor that draws that sets up on instrument place the platform.
3. The comprehensive performance test platform for the thruster of the cabled underwater robot of claim 1 or 2, characterized in that: the second connecting rod mechanism comprises a second connecting rod and a stepping motor, the second connecting rod is arranged on the first connecting rod mechanism, a rack is arranged on the second connecting rod, the stepping motor is matched with the rack of the second connecting rod through a gear, so that the second connecting rod can move up and down relative to the first connecting rod mechanism, and the lower end of the second connecting rod is connected with a propeller.
4. The comprehensive performance testing platform for the thruster of the cabled underwater robot of claim 3, wherein: the second connecting rod comprises an external telescopic rod and an internal telescopic rod, a rack is arranged on the external telescopic rod, the external telescopic rod can move up and down relative to the first connecting rod mechanism by means of the rack cooperation of a gear and the external telescopic rod of the stepping motor, the internal telescopic rod is arranged inside the external telescopic rod, the lower end of the internal telescopic rod is connected with a propeller, bolt holes are formed in the external telescopic rod and the internal telescopic rod, and the extension length of the internal telescopic rod relative to the external telescopic rod can be adjusted by means of the correspondence of the different bolt holes.
5. The comprehensive performance testing platform for the thruster of the cabled underwater robot of claim 3, wherein: the lower end of the second connecting rod is connected with the propeller through the triangular support.
6. The comprehensive performance testing platform for the thruster of the cabled underwater robot of claim 1, characterized in that: the device also comprises a laser sensor, wherein the laser sensor is arranged in the water pool; the main body support, the first connecting rod mechanism, the second connecting rod mechanism, the tension and compression sensor and the rotating shaft are all arranged outside the water pool.
7. A comprehensive performance test method for a thruster of a cabled underwater robot is characterized by comprising the following steps: the effective test range of the thrust is adjusted by adjusting the force arm, namely, the force acted on the tension and compression sensor by the thruster is changed by adjusting the distance ratio between the rotating shaft and the thruster and the tension and compression sensor, so that the thruster is ensured to be in the only fixed measurement range of the sensor, and further comprehensive performance tests are carried out on thrusters with different specifications; the center of gravity of the rotating part capable of rotating around the rotating shaft is arranged on one side of the rotating shaft bias tension pressure sensor, and the propeller is already provided with a reading before being installed, namely when the propeller is unloaded, and the influence of other factors such as friction force and the like is effectively eliminated in a final measurement result through the reading.
8. The method for testing the comprehensive performance of the thruster of the cabled underwater robot according to claim 7, characterized in that: the water pool is placed in the platform, only the propeller and the laser sensor are placed in water, and the main body support is fixed on the ground.
9. The method for testing the comprehensive performance of the thruster of the cabled underwater robot according to claim 7, characterized in that: the propeller is connected with the second connecting rod mechanism through the double-triangular-bracket structure so as to reduce the deformation degree of the rotating shaft when the propeller is tested.
10. The method for testing the comprehensive performance of the thruster of the cabled underwater robot according to claim 7, characterized in that: measuring and calculating the length of the force arm of the thrusters with different specifications and correspondingly adjusting the length; testing the positive and negative rotating thrust of the thrusters with different specifications by adopting torque; carrying out rotation speed performance test on the propeller by adopting a laser sensor; the power box provides the required voltage and current, so that the comprehensive test of the performance of the propeller is realized; the method comprises the following specific steps:
(1) arranging an experimental water pool, and mounting a propeller on a triangular connecting rod; before the thrust of the propeller is tested, estimating the specification of the propeller, and adjusting the length ratio of the force arm to a proper value according to the specification of the propeller;
(2) reading and recording the numerical value of the tension and compression sensor when the propeller is not opened;
(3) inputting the voltage and the current of the propeller by adopting a power box, namely testing other performances of the propeller under the known power; firstly, under the known condition, the propeller is pushed forward, and the two force arms rotate around the shaft to act on the tension and compression sensor; recording the forward thrust data of the thruster, slowly adjusting the thrust of the thruster, reading the value of the tension and compression sensor and recording the value; subtracting the reading of the sensor when the propeller is not started from the value, and dividing the value by the ratio of L1+ L3 to L2 to obtain the maximum positive thrust of the tested propeller;
(4) opening a laser sensor, measuring the speed, and adjusting if the position deviation is found;
(5) when other propellers with different powers need to be tested, the length of the force arm is adjusted again according to the specification of the propeller.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335486A (en) * | 2021-07-02 | 2021-09-03 | 中国科学院宁波材料技术与工程研究所 | Jet propulsion device and test system 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 |
-
2019
- 2019-11-27 CN CN201911181392.5A patent/CN110758671A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113335486A (en) * | 2021-07-02 | 2021-09-03 | 中国科学院宁波材料技术与工程研究所 | Jet propulsion device and test system thereof |
| CN113335486B (en) * | 2021-07-02 | 2023-08-18 | 中国科学院宁波材料技术与工程研究所 | Jet propulsion device and test system thereof |
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Application publication date: 20200207 |