CN113619757A - Pressure self-adaptation oil-filled steering engine - Google Patents
Pressure self-adaptation oil-filled steering engine Download PDFInfo
- Publication number
- CN113619757A CN113619757A CN202110882545.XA CN202110882545A CN113619757A CN 113619757 A CN113619757 A CN 113619757A CN 202110882545 A CN202110882545 A CN 202110882545A CN 113619757 A CN113619757 A CN 113619757A
- Authority
- CN
- China
- Prior art keywords
- oil
- steering engine
- filled
- shell
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- B63G8/20—Steering equipment
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a pressure self-adaptive oil-filled steering engine which comprises a shell, wherein the inner wall of the shell is connected with a partition board, the partition board divides the space in the shell into an instrument cavity and an oil-filled cavity, the shell is connected with a steering engine cover, the shell is positioned in the instrument cavity and connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, the shell is positioned in the oil-filled cavity and provided with a water inlet, the shell is positioned at the water inlet and connected with a cylindrical barrel, the inner wall of the cylindrical barrel is attached and connected with a piston cover, one surface of the piston cover, far away from the water inlet, is connected with a piston, and the piston extends to the outside of the cylindrical barrel; the hydraulic oil pressure bearing device is suitable for different water depth environments, can reduce the design requirement on the strength of the shell, converts deep water pressure required to be borne by the shell into deformation of hydraulic oil, and is large in pressure bearing range.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a pressure self-adaptive oil-filled steering engine.
Background
The ocean occupies 71 percent of the surface area, and contains abundant mineral resources, such as petroleum, natural gas hydrate, polymetallic nodules, rich drilling and crusting block-shaped hydrothermal sulfide mineral deposits, polymetallic soft mud, barite and the like. With the gradual decrease or depletion of land resources, the importance of marine resources is more and more prominent, and people begin to pay more attention to the investigation and development of marine mineral resources. In addition, as the marine development activities become more and more frequent and deeper, marine oil and gas exploration and exploitation, marine investigation, marine engineering, laying and maintenance of marine pipelines and cables, exploitation of marine minerals and other marine activities performed by human beings must go from shallow sea to deep sea, and deep sea equipment naturally becomes a necessary tool for human beings to perform marine activities. And aiming at the current deepening of the field of ocean monitoring, exploration and development, UUV plays an increasingly important role and also puts higher requirements on the performance of UUV. As a core component of a UUV control part, a steering engine suitable for higher environmental pressure is designed, and the method is an important part for researching and developing the deep-sea UUV.
The steering wheel that is applicable to shallow water only need consider the resistance to pressure and the outside sealed of its casing can, but has arrived deep sea, and pressure is the several times of shallow water, only considers the casing that adopts higher resistance to pressure can increase several times weight for whole steering wheel.
Disclosure of Invention
The invention aims to provide a pressure self-adaptive oil-filled steering engine, which adjusts the adaptability under different water depths through pressure compensation.
The technical scheme includes that the pressure self-adaptive oil-filled steering engine comprises a shell, wherein a partition plate is connected to the inner wall of the shell, the space in the shell is divided into an instrument cavity and an oil-filled cavity by the partition plate, a steering engine cover is connected to the shell, the shell is located in the instrument cavity and is connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, a water inlet is formed in the oil-filled cavity and is located in the shell, a cylindrical barrel is connected to the position, located in the shell, of the water inlet, a piston cover is attached to the inner wall of the cylindrical barrel, one side, far away from the water inlet, of the piston cover is connected with a piston, and the piston extends to the outside of the cylindrical barrel.
The invention is also characterized in that:
the speed reducing mechanism comprises a motor connected to the inner wall of the shell, the output end of the motor is sequentially connected with a coupler and a worm, the speed reducing mechanism further comprises a U-shaped frame connected in the shell, the two ends of the worm are connected between the ports of the U-shaped frame through a bearing d, the worm is connected with a steering engine output shaft through a three-level speed reducing gear, the steering engine output shaft penetrates out of the shell, and the motor is connected with a control circuit.
The three-stage reduction gear comprises a bevel gear shaft a which is perpendicular to the length direction of a worm in the shell and is connected with the worm through a bearing a, a worm wheel is fixedly connected to the bevel gear shaft a, and the three-stage reduction gear further comprises a bevel gear shaft b which is perpendicular to the length direction of the worm, the bevel gear shaft b is connected with the shell through a bearing b, a bevel gear b is fixedly connected to the bevel gear shaft b and is meshed with the worm wheel, the bevel gear b is meshed with a bevel gear c, a steering engine output shaft is fixedly connected to the bevel gear c, and the output shaft is connected with the shell through a bearing c.
A groove is formed in the side wall of the shell and close to the output shaft, a magnetic rudder angle sensor is connected in the groove of the shell and connected with a control circuit board, and a magnet is connected to the position, right facing the magnetic rudder angle sensor, of the output shaft.
The output shaft is sleeved with the square ring and the O-shaped ring in sequence at the position opposite to the shell, and the O-shaped ring and the shell are extruded mutually.
The oil filling port of the shell is connected with an oil filling pipe, and the oil filling pipe is communicated with the oil filling cavity.
The shell is positioned on the side wall of the oil filling cavity and is provided with an exhaust port, and a one-way exhaust valve is connected in the exhaust port on the shell.
An O-shaped sealing ring b is connected between the piston and the cylinder.
The outer side surface of the piston cover is embedded with an O-shaped sealing ring c through a groove, and two sides of the O-shaped sealing ring c are connected with retaining rings.
The shell is provided with a wire outlet.
The invention has the beneficial effects that:
1) the device has the advantages of small volume, light weight, compact structure and large output torque, and can be suitable for the output requirements of different types of deep sea aircrafts;
2) the designed steering engine adopts a worm gear reducer, so that the large transmission ratio and the reverse self-locking function can be realized, and the safety of the whole servo mechanism is improved;
3) the hydraulic oil pressure bearing device is suitable for different water depth environments, can reduce the design requirement on the strength of the shell, converts the deep water pressure required to be borne by the shell into the deformation of hydraulic oil, and has a large pressure bearing range;
4) whole device convenient to detach and change set up and fill the hydraulic fluid port and exhaust/oil-out for change and fill the medium, keep apart medium and gear etc. through the baffle, do not influence the normal control of steering wheel.
Drawings
FIG. 1 is a schematic view of an appearance structure of a pressure self-adaptive oil-filled steering engine according to the present invention;
FIG. 2 is a schematic view of the bottom of a pressure adaptive oil-filled steering engine according to the present invention;
FIG. 3 is a schematic view of the internal structure of the cylinder of the present invention;
FIG. 4 is a schematic diagram of the internal structure of a pressure self-adaptive oil-filled steering engine according to the present invention;
FIG. 5 is a schematic view of the installation of the magnetic rudder angle sensor according to the present invention;
FIG. 6 is a schematic view of the dynamic seal of the output shaft of the present invention.
In the figure, 1, a steering engine output shaft, 2, a steering engine cover, 3, a shell, 4, a one-way exhaust valve, 5, an outlet, 6, a cylindrical barrel, 7, an oil filling pipe, 8, a bevel gear b, 9, a bearing b, 10, a bevel gear shaft b, 11, a worm wheel, 12, a bevel gear shaft a, 13, a bearing a, 14, a bearing d, 15, a worm, 16, a coupler, 17, a motor, 18, a piston, 19, a piston cover, 20, a bevel gear c, 21, a bearing c, 22, a water inlet, 23, an O-shaped ring a, 24, a square ring, 25, a magnet, 26, a magnetic steering angle sensor, 27, O-shaped ring b, 28, a retaining ring, 29 and O-shaped ring c are arranged.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a pressure self-adaptive oil-filled steering engine, which comprises a shell 3, wherein a rudder cover 2 is connected on the shell 3, the shell 3 and the rudder cover 2 form a cavity, the inner wall of the shell 3 is connected with a partition board, the partition board divides the space in the shell 3 into an instrument cavity and an oil-filled cavity, the shell 3 is positioned in the instrument cavity and is connected with a speed reducing mechanism, the speed reducing mechanism is connected with a control circuit board, as shown in fig. 2, a water inlet 22 is arranged in the oil-filled cavity on the shell 3, as shown in fig. 3, the cylindrical barrel 6 is connected with the position of the water inlet 22 in the shell 3, the oil-filled cavity is communicated with the cylindrical barrel 6, the medium oil is filled in the oil-filled cavity, the inner wall of the cylindrical barrel 6 is jointed and connected with the piston cover 19, one side of the piston cover 19 far away from the water inlet 22 is connected with the piston 18, the piston 18 extends to the outside of the cylindrical barrel 6, when the piston 18 is subjected to different pressures, the position of the piston 18 is self-adjusting to force balance the piston 18.
As shown in fig. 4, the speed reducing mechanism comprises a motor 17 connected to the inner wall of the housing 3, the output end of the motor 17 is sequentially connected with a coupler 16 and a worm 15, the speed reducing mechanism further comprises a U-shaped frame connected in the housing 3, the two ends of the worm 15 are connected between the ports of the U-shaped frame through a bearing d14, the worm 15 is connected with a steering engine output shaft 1 through a three-level speed reducing gear, the steering engine output shaft 1 penetrates out of the housing 3, the motor 17 is connected with a control circuit, the motor 17 is controlled to rotate through the control circuit, the steering engine output shaft 1, the coupler 16, the worm 15 and the three-level speed reducing gear are sequentially driven, and the output deflection of the oil-filled steering engine is controlled through the three-level speed reducing gear.
The three-stage reduction gear comprises a bevel gear shaft a12 which is perpendicular to the length direction of a worm 15 and is connected with the worm through a bearing a13 in a housing 3, a worm wheel 11 is fixedly connected onto the bevel gear shaft a12, the three-stage reduction gear further comprises a bevel gear shaft b10 which is perpendicular to the length direction of the worm 15, the bevel gear shaft b10 is connected with the housing 3 through a bearing b9, a bevel gear b8 is fixedly connected onto a bevel gear b10, the bevel gear b8 is in meshing connection with the worm wheel 11, a bevel gear b8 is in meshing connection with a bevel gear c20, a steering engine output shaft 1 is fixedly connected onto the bevel gear c20, the output shaft 1 is connected onto the housing 3 through a bearing c21, when the worm 15 rotates, the worm 11, the bevel gear b8, the bevel gear c20 and the output shaft 1 are sequentially driven, and deflection angle control of the output shaft 1 is achieved through a control circuit.
As shown in fig. 5, a groove is formed in a position, close to the output shaft 1, of the side wall of the housing 3, a magnetic rudder angle sensor 26 is connected in the groove of the housing 3, the magnetic rudder angle sensor 26 is connected with the control circuit board, a magnet 25 is connected to a position, opposite to the magnetic rudder angle sensor 26, on the output shaft 1, when the output shaft 1 rotates, the magnet 25 is driven to rotate, the rotation angle of the magnet 25 is detected through the magnetic rudder angle sensor 26, and then the rotation angle of the output shaft 1 is detected.
As shown in fig. 6, a square ring 24 and an O-ring 23 are sequentially sleeved at a position, which is opposite to the housing 3, outside the output shaft 1, the O-ring 23 and the housing 3 are mutually extruded, and when the output shaft 1 rotates, the output shaft 1 can be opposite to the housing 3 and can rotate in a sealing manner, so that the sealing performance of the output shaft 1 during rotation can be ensured.
The oil filling port formed in the shell 3 is further included, the oil filling port of the shell 3 is connected with the oil filling pipe 7, the oil filling pipe 7 is communicated with the oil filling cavity, media can be filled in the oil filling cavity, one end, close to the oil filling port, of the oil filling pipe 7 is connected with the female connector capable of being automatically locked in a one-way mode, the female connector is matched with the external male connector for use when oil is filled, the male connector is directly pulled out after oil filling is finished, the female connector can be automatically locked, and leakage of medium oil in the shell 3 is prevented.
The shell 3 is positioned on the side wall of the oil filling cavity and is provided with an exhaust port, and a one-way exhaust valve 4 is connected in the exhaust port on the shell 3, so that gas or medium oil generated due to temperature change in the shell 3 can be exhausted.
An O-ring b27 is connected between the piston 18 and the cylinder 6 to prevent seawater from entering the housing 3.
The outer side surface of the piston cover 19 is embedded with an O-shaped sealing ring c29 through a groove, two sides of the O-shaped sealing ring c29 are connected with retaining rings 28, and the retaining rings 28 can prevent the O-shaped sealing ring c29 from falling off.
The housing 3 is provided with a wire outlet 5 for communicating the internal control circuit board with an external circuit.
The invention relates to a method for using a pressure self-adaptive oil-filled steering engine, which comprises the following steps:
the steering wheel main part is the box structure that casing 3 and rudder cover 2 formed, and output shaft 1 reserves the mouth through rudder cover 2 and stretches out, and the steering wheel bottom is equipped with the positioning flange, can be used to fixed mounting on the carrier.
The pressure self-adaptive oil-filled steering engine can be used as a land servo mechanism in a non-oil-filled state; when the device is used underwater, the oil filling cavity is filled with oil through the oil filling pipe 7; when the steering engine is to be disassembled or oil is to be changed, the one-way exhaust valve 4 is opened, and the auxiliary suction device can be used for discharging hydraulic oil from the one-way exhaust valve. When the steering wheel depth of water becomes dark, the sea water gushes in through the water inlet 22 of bottom, and piston 18 receives water pressure and produces the displacement, and opposite side hydraulic oil pressurized because the compressibility of liquid, the inside hydraulic oil volume of pressurized back cavity diminishes, and when the navigation degree of depth diminishes, sea water pressure diminishes, and cavity internal pressure is greater than sea water pressure. Under the condition of variable navigation depth, the stress on two sides of the piston 18 keeps dynamic balance to realize pressure compensation.
Through the mode, the pressure self-adaptive oil-filled steering engine is integrally designed, overcomes the pressure resistance method only considering improvement of shell tolerance by utilizing compressibility of hydraulic oil, is designed, and can be used as an independent servo mechanism for underwater aircrafts.
Claims (10)
1. The utility model provides a pressure self-adaptation oil-filled steering wheel, its characterized in that, includes casing (3), casing (3) inner wall connection baffle, the baffle divide into apparatus chamber and oil-filled chamber with casing (3) inner space, connect rudder cover (2) on casing (3), casing (3) are located apparatus intracavity and connect reduction gears, reduction gears connection control circuit board, it sets up water inlet (22) to lie in the oil-filled chamber on casing (3), lie in water inlet (22) in casing (3) and locate to connect cylinder (6), piston lid (19) is connected in cylinder (6) inner wall laminating, piston lid (19) are kept away from the one side of water inlet (22) and are connected piston (18), piston (18) extend to cylinder (6) outside.
2. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the speed reducing mechanism comprises a motor (17) connected to the inner wall of the housing (3), the output end of the motor (17) is sequentially connected with a coupler (16) and a worm (15), the speed reducing mechanism further comprises a U-shaped frame connected in the housing (3), the ports of the U-shaped frame are connected with the two ends of the worm (15) through bearings d (14), the worm (15) is connected with the steering engine output shaft (1) through three-level speed reducing gears, the steering engine output shaft (1) penetrates out of the housing (3), and the motor (17) is connected with a control circuit.
3. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein the three-stage reduction gear comprises a bevel gear shaft a (12) which is connected with a vertical worm (15) in the shell (3) in the length direction through a bearing a (13), the bevel gear shaft a (12) is fixedly connected with a turbine (11) and also comprises a bevel gear shaft b (10) vertical to the length direction of the worm (15), the bevel gear shaft b (10) is connected with the inside of the shell (3) through a bearing b (9), the bevel gear shaft b (10) is fixedly connected with a bevel gear b (8), the bevel gear b (8) is meshed with a turbine (11), the bevel gear b (8) is meshed with a bevel gear c (20), the bevel gear c (20) is fixedly connected with a steering engine output shaft (1), the output shaft (1) is connected with the shell (3) through a bearing c (21).
4. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein a groove is formed in the side wall of the housing (3) near the output shaft (1), a magnetic rudder angle sensor (26) is connected in the groove of the housing (3), the magnetic rudder angle sensor (26) is connected with the control circuit board, and a magnet (25) is connected to the position of the output shaft (1) opposite to the magnetic rudder angle sensor (26).
5. The pressure self-adaptive oil-filled steering engine according to claim 2, wherein the output shaft (1) is sleeved with a square ring (24) and an O-ring (23) in sequence at a position facing the housing (3), and the O-ring (23) and the housing (3) are extruded with each other.
6. The pressure self-adaptive oil-filled steering engine according to claim 1, further comprising an oil filling port formed in the housing (3), wherein the oil filling port of the housing (3) is connected with an oil filling pipe (7), and the oil filling pipe (7) is communicated with the oil filling cavity.
7. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein an exhaust port is formed in the side wall of the oil-filled cavity of the housing (3), and a one-way exhaust valve (4) is connected in the exhaust port in the housing (3).
8. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein an O-ring b (27) is connected between the piston (18) and the cylinder (6).
9. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the outer side surface of the piston cover (19) is embedded with an O-shaped sealing ring c (29) through a groove, and two sides of the O-shaped sealing ring c (29) are connected with retaining rings (28).
10. The pressure self-adaptive oil-filled steering engine according to claim 1, wherein the housing (3) is provided with an outlet (5).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110882545.XA CN113619757B (en) | 2021-08-02 | 2021-08-02 | Pressure self-adaptation oil-filled steering engine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110882545.XA CN113619757B (en) | 2021-08-02 | 2021-08-02 | Pressure self-adaptation oil-filled steering engine |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113619757A true CN113619757A (en) | 2021-11-09 |
CN113619757B CN113619757B (en) | 2023-02-28 |
Family
ID=78382199
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110882545.XA Active CN113619757B (en) | 2021-08-02 | 2021-08-02 | Pressure self-adaptation oil-filled steering engine |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113619757B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114313196A (en) * | 2021-12-27 | 2022-04-12 | 中国航天空气动力技术研究院 | Small-size low-power consumption long-life steering wheel |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060231265A1 (en) * | 2005-03-23 | 2006-10-19 | Martin David W | Subsea pressure compensation system |
CN202076886U (en) * | 2011-06-16 | 2011-12-14 | 中国江南航天工业集团林泉电机厂 | Oil-filled pressure-compensated type deep sea motor |
CN105620708A (en) * | 2014-11-28 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Underwater electric steering engine and rudder angle detection method |
CN205383244U (en) * | 2015-12-23 | 2016-07-13 | 北京航天嘉诚精密科技发展有限公司 | Anti high overstrain steering wheel reduction gear |
CN107953314A (en) * | 2017-12-11 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of steering engine component and robot |
CN107990094A (en) * | 2017-11-29 | 2018-05-04 | 上海鲸灵海洋科技有限公司 | A kind of oil-filled pressure-compensated formula underwater holder device |
EP3343022A1 (en) * | 2015-08-25 | 2018-07-04 | FMC Technologies Do Brasil LTDA | Underwater electric power generator system |
CN208337333U (en) * | 2018-07-12 | 2019-01-04 | 广州海洋地质调查局 | A kind of steering engine for deep-sea detecting towed body |
CN109572978A (en) * | 2018-11-22 | 2019-04-05 | 中国船舶重工集团公司第七0五研究所 | Small-bore submarine navigation device all-in-one micro steering engine |
-
2021
- 2021-08-02 CN CN202110882545.XA patent/CN113619757B/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060231265A1 (en) * | 2005-03-23 | 2006-10-19 | Martin David W | Subsea pressure compensation system |
CN202076886U (en) * | 2011-06-16 | 2011-12-14 | 中国江南航天工业集团林泉电机厂 | Oil-filled pressure-compensated type deep sea motor |
CN105620708A (en) * | 2014-11-28 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Underwater electric steering engine and rudder angle detection method |
EP3343022A1 (en) * | 2015-08-25 | 2018-07-04 | FMC Technologies Do Brasil LTDA | Underwater electric power generator system |
CN205383244U (en) * | 2015-12-23 | 2016-07-13 | 北京航天嘉诚精密科技发展有限公司 | Anti high overstrain steering wheel reduction gear |
CN107990094A (en) * | 2017-11-29 | 2018-05-04 | 上海鲸灵海洋科技有限公司 | A kind of oil-filled pressure-compensated formula underwater holder device |
CN107953314A (en) * | 2017-12-11 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of steering engine component and robot |
CN208337333U (en) * | 2018-07-12 | 2019-01-04 | 广州海洋地质调查局 | A kind of steering engine for deep-sea detecting towed body |
CN109572978A (en) * | 2018-11-22 | 2019-04-05 | 中国船舶重工集团公司第七0五研究所 | Small-bore submarine navigation device all-in-one micro steering engine |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114313196A (en) * | 2021-12-27 | 2022-04-12 | 中国航天空气动力技术研究院 | Small-size low-power consumption long-life steering wheel |
Also Published As
Publication number | Publication date |
---|---|
CN113619757B (en) | 2023-02-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109281926B (en) | Vibration reduction thrust bearing with hydrostatic thrust self-balancing function | |
CN113619757B (en) | Pressure self-adaptation oil-filled steering engine | |
CN203246580U (en) | Deep-sea high-temperature mini underwater propeller propelling device adopting magnetic transmission and pressure compensation | |
CN211089295U (en) | Self-adaptive pressure compensation propulsion system | |
CN114221474A (en) | Waterproof motor for electric joint of mechanical arm | |
CN208169663U (en) | A kind of underwater valve actuator | |
CN104141737B (en) | One is speed reduction driving mechanism for power under water | |
CN102935641A (en) | Servo valve box for underwater hydraulic manipulator | |
CN102862665A (en) | Pressure balance retainer for underwater oil charge system | |
CN104141790B (en) | A kind of sealing device of speed reduction driving mechanism for power under water | |
WO2022183973A1 (en) | Electric push rod | |
CN206719505U (en) | The passive oil discharge-type buoyancy regulating device of underwater robot | |
CN113048251B (en) | Duplex gate valve for deep water | |
CN201435641Y (en) | Oil-filled waterproof motor device | |
CN103846904A (en) | Servo valve box for controlling underwater hydraulic manipulator | |
CN202934569U (en) | Servo valve housing used for controlling underwater hydraulic manipulator | |
CN204568041U (en) | A kind of watertight motor and this autonomous underwater vehicle AUV propulsion system being applied to autonomous underwater vehicle AUV propulsion system | |
Golz et al. | A ballast system for automated deep-sea ascents | |
CN108443566A (en) | A kind of underwater valve actuator | |
CN112357029A (en) | Buoyancy adjusting system for submarine submersible vehicle to reside on seabed | |
CN202071982U (en) | Pressure balancing maintainer for underwater oil-filling system | |
CN207200515U (en) | encoder underwater fixing device | |
CN113984099B (en) | Installation structure of large-depth underwater angle sensor | |
CN112122703B (en) | Pressure self-adaptive high-rotating-speed light underwater cutting tool | |
CN205377526U (en) | Deep sea arm tombarthite permanent magnetism dive motor |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant |