CN203681853U - Self-regulating course-changing underwater vertical section measuring platform in set sea area - Google Patents
Self-regulating course-changing underwater vertical section measuring platform in set sea area Download PDFInfo
- Publication number
- CN203681853U CN203681853U CN201320547113.4U CN201320547113U CN203681853U CN 203681853 U CN203681853 U CN 203681853U CN 201320547113 U CN201320547113 U CN 201320547113U CN 203681853 U CN203681853 U CN 203681853U
- Authority
- CN
- China
- Prior art keywords
- platform
- wing plate
- self
- vertical section
- oil gas
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model belongs to the technical field of an underwater platform for monitoring marine environment, and particularly relates to an underwater vertical section measuring platform. According to a technical scheme, the self-regulating course-changing underwater vertical section measuring platform in a set sea area comprises a Beidou satellite communication system, a CT (Computed Tomography) sensor (2), a depth sensor (3), a pull rod (4), a head shell (5), a rotary wing plate mechanism (6), a middle-section pressure resisting shell (7), a hydraulic driving device (8), a battery pack (9), a control circuit board (10), a pneumatic driving device (11), a tail shell (12), a joint body (13), an oil gas bag (14) and an oil bag shield (15). The measuring platform disclosed by the utility model can be used for controlling the rotary wing plate mechanism to rotate by controlling the circuit board so as to regulate the included angle between a wing plate and the water flow direction, thereby realizing the self-regulating and course-changing function; meanwhile, by adopting the Beidou satellite communication system and calculating the speed and direction of water flow according to the regulation process of the wing plate, a marine data service function is provided for other detection equipment.
Description
Technical field
The utility model belongs to marine environmental monitoring underwater platform technical field, is specifically related to one vertical section measuring table under water.
Background technology
Ocean is the fundamental space of human survival, be also the important stage of International Politics struggle, and the center of ocean political struggle is maritime rights and interests.Since entering the new century, ocean has become a grand strategy field of national interests expansion and survival space extension.Current, day by day serious from the multiple security threat of ocean direction.China exists in the problem of the South Sea that sovereignty are invaded, islands and reefs are occupied, marine site is divided, resource robbed, exploitation is by the serious situation obstructing, safety is compromised, and South Sea crisis is upgraded step by step.For better marine environment being surveyed and observed, collect ocean related data and data, the underwater platform of types of applications Yu Haiyang environmental monitoring is researched and developed successfully and place in operation in succession.Marine environmental monitoring underwater platform mainly can be divided into two classes at present, and the one, be that device is fixed on marine environment underwater monitoring platform within the scope of a certain marine site by anchor, each aspect within the scope of the set depth of ocean is surveyed, but its monitoring range is limited, the 2nd, after underwater monitoring platform is thrown in, realize the automatic plunging motion (vertical section motion) within the scope of the water surface and set depth under water according to program setting, decline and in uphill process, gather relevant ocean wave parameter data and be stored in the storage card of platform inside at it, when platform floats to after the water surface, by Beidou satellite communication system, the oceanographic data collecting is sent to bank station control command centre again, but it is rising, in decline and water surface communication process, because the effect of ocean current and wave, it will drift with the tide, can not control the position of self, complete after a section plunging motion, its water exit position is by uncertain, the problem of bringing is: the one, and underwater monitoring platform completes after multiple section plunging motions, its water exit position may be positioned at shallow sea area, other country marine site or bank, to cause underwater platform to have danger stranded or that salvaged by the fisherman of other country, thereby cause leaking of equipment and oceanographic data, the 2nd, many covers underwater platform that maritime researcher throws in different waters, after section plunging motion after a while, likely because of the effect of ocean current and wave, they are drifted about monitors in same marine site among a small circle, this wants to monitor the object of multiple different waters oceanographic datas at first by causing realizing maritime researcher, thereby also just declares test failure.
For this reason, be necessary to develop a kind of self-regulation and become course and realize sink-float automatically, and setting the collection of carrying out oceanographic data in marine site, and the underwater platform that regularly image data is transferred to bank station control command centre just seems very important.
Summary of the invention
The purpose of this utility model is, designs self-regulation in a kind of marine site and become the measuring table of vertical section under water in course, reaches the function of carrying out marine environmental monitoring in marine site setting.
The technical solution of the utility model is: a kind of measuring table of vertical section under water setting self-regulation change course in marine site, it comprises: head capsule, be arranged on Beidou satellite communication system, CT sensor and depth transducer on head capsule, pull bar, rotary wing plate mechanism, stage casing pressure shell, be arranged on fluid pressure drive device, battery pack, control circuit board, actuating device of atmospheric pressure, motor reducer, motor mounting rack and drive link in the pressure shell of stage casing, tail shell, fittings body, oil gas capsule, oil sac guard shield;
Rotary wing plate mechanism comprises: rotating cylindrical, stable disk and wing plate; It is hollow that there is half cycle rotating cylindrical inside; Motor reducer in the pressure shell of stage casing is arranged on motor mounting rack, and its output shaft is connected with the circle centre position of rotating cylindrical by drive link; Stable disk and wing plate are arranged on respectively the both sides of rotating cylindrical outer circumference surface;
Rotary wing plate mechanism is arranged between head capsule and stage casing pressure shell by its rotating cylindrical, O RunddichtringO together with respectively establishing with head capsule and pressure shell contact position, stage casing; Pull bar is through the hollow area of rotating cylindrical, and one end is fixedly connected with head capsule, and the other end is fixedly connected with motor mounting rack;
Fluid pressure drive device comprises: motor combination, screw mandrel, hydraulic actuating cylinder, guide rail, piston body and pipeline; Leading screw is connected with motor combination, and head is also equipped with piston body, and piston body moves in guide rail, hydraulic oil is injected in oil gas capsule from hydraulic actuating cylinder by pipeline, or the hydraulic oil in oil gas capsule is drawn in hydraulic actuating cylinder;
Actuating device of atmospheric pressure comprises: air pump, electromagnetic valve, check valve and tracheae; Wherein, electromagnetic valve is connected with oil gas capsule by fittings body, and air pump is inflated in oil gas capsule by check valve and tracheae, the rising of implementation platform; When platform sinks, open electromagnetic valve, the gas of oil gas capsule is pushed back platform inner space;
Tail shell is arranged on the tail end of stage casing pressure shell, and oil gas capsule is installed after tail shell, and oil gas capsule is provided with oil sac guard shield outward;
Battery pack provides electric power for the consumer in platform;
Autonomous sink-float function, marine monitoring function, bi-directional communication function and the self-regulation when the water surface of control circuit board to platform becomes course function and controls.
The beneficial effects of the utility model are: 1. the utility model can carry out vertical section measurement in the marine site of program setting, if platform emerges behind location, find that its position has exceeded setting marine site scope, can automatically adjust drift direction navigation and get back to and set marine site and re-start profile survey, and can calculate speed and the direction of current according to its Drifting Course;
2. the rotary wing plate of employing mechanism adjusts the angle of wing plate and water (flow) direction, thereby can change the drift direction of platform, reaches platform self-regulation and becomes course function;
3. when the utility model water surface drifts about, adopt Beidou satellite communication system interval setting-up time to position platform, and draw out platform Drifting Course, program is according to the angle of the Drifting Course of platform and rotary wing plate institutional adjustment, realizes speed to current and the calculating of direction.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the structural scheme of mechanism of rotary wing plate mechanism in the utility model;
Fig. 3 is the structural representation of rotating cylindrical in the utility model;
Wherein, 1-Beidou satellite communication system, 2-CT sensor, 3-depth transducer, 4-pull bar, 5-head capsule, the rotary wing plate of 6-mechanism, 7-stage casing pressure shell, 8-fluid pressure drive device, 9-battery pack 9,10-control circuit board, 11-actuating device of atmospheric pressure, 12-tail shell, 13-fittings body, 14-oil gas capsule, 15-oil sac guard shield, 16-motor reducer, 17-motor mounting rack 18-drive link, 19-rotating cylindrical, 20-stable disk 20,21-wing plate.
The specific embodiment
Referring to accompanying drawing 1, a kind of measuring table of vertical section under water setting self-regulation change course in marine site, it comprises: head capsule 5, be arranged on head capsule 5 rotary wing plate mechanism 6, stage casing pressure shell 7, be arranged on fluid pressure drive device 8, battery pack 9, control circuit board 10, actuating device of atmospheric pressure 11, motor reducer 16, motor mounting rack 17 and drive link 18 in stage casing pressure shell 7, tail shell 12, fittings body 13, oil gas capsule 14 and oil sac guard shield 15;
Beidou satellite communication system 1, CT sensor 2, depth transducer 3 are arranged on head capsule 5, and adopt standard O-ring seals radial seal structure form to realize pressure-resistant seal, dissimilar sensor can be installed according to the demand of marine environmental monitoring in addition on head capsule 5, to realize different hydrospace detection objects; For realizing the requirement of marine monitoring data security secrecy transmission, domestic big-dipper satellite communication and location technology are adopted, it can realize bidirectional real-time, guarantee that platform can receive the control command of bank station control command centre to its transmission after emerging, can send to bank station control command centre the ocean wave parameter data of its collection simultaneously;
Rotary wing plate mechanism 6 comprises: rotating cylindrical 19, stable disk 20 and wing plate 21; It is hollow that there is half cycle rotating cylindrical 19 inside; Motor reducer 16 in stage casing pressure shell 7 is arranged on motor mounting rack 17, and its output shaft is connected with the circle centre position of rotating cylindrical 19 by drive link 18; Stable disk 20 and wing plate 21 are arranged on respectively the both sides of rotating cylindrical 19 outer circumference surfaces; It is hollow that there is half cycle rotating cylindrical 19 inside, the object of its design mainly contains the following aspects: the one, guarantee that the rotating part of rotary wing plate mechanism 6 can rotate within the scope of ± 90 degree when parallel with flow direction with wing plate 21 (be defined as O degree), to regulate the angle of wing plate 21 and flow direction, thereby change the course of platform at the water surface; The 2nd, can allow pull bar 4 be connected and fixed with head capsule 5 by rotary wing plate mechanism 6, relevant control circuit cable also can be connected with CT sensor 2, depth transducer 3 etc. by rotary wing plate mechanism 6 simultaneously;
Rotary wing plate mechanism 6 connects between head capsule 5 and stage casing pressure shell 7 by its rotating cylindrical 19, for guaranteeing junction sealing, the groove of O-ring seals is installed together with rotary wing plate mechanism 6 contact positions are respectively designed with at head capsule 5, stage casing pressure shell 7, groove is undertaken by the design standard of the hydraulic pressure dynamic seal in piston rod packing herein, thus the overall sealing performance of platform while guaranteeing that rotary wing plate mechanism 6 rotates; Pull bar 4 is through the hollow area of rotating cylindrical 19, and one end is fixedly connected with head capsule 5, and the other end is fixedly connected with motor mounting rack 17, and its radical function is to be an entirety by head capsule 5, rotary wing plate mechanism 6 and 7 connections of stage casing pressure shell;
Fluid pressure drive device 8 comprises: motor combination, screw mandrel, hydraulic actuating cylinder, guide rail, piston body and pipeline; Leading screw is connected with motor combination, head is also equipped with piston body, piston body moves in guide rail, its radical function is that the hydraulic oil in device is injected in oil sac or by the hydraulic oil in oil sac and is drawn in hydraulic actuating cylinder from hydraulic actuating cylinder, reach the object that changes oil sac volume, also just change the displacement of volume of whole platform, thereby realized the function of the underwater vertical section sink-float of platform;
Actuating device of atmospheric pressure 11 comprises: air pump, electromagnetic valve, check valve and tracheae; Wherein, electromagnetic valve is connected with oil gas capsule 14 by fittings body 13, actuating device of atmospheric pressure 11 radical functions are implementation platform plunging motions at the water surface, in the time that platform approaches the water surface, actuating device of atmospheric pressure 11 is inflated in air bag, increase the displacement of volume of platform, Beidou satellite communication system 1 is surfaced and can realize two way communication with bank station control command centre, in the time that platform will sink, open electromagnetic valve, gas in air bag is pushed back platform inner space, reduces the displacement of volume of platform, and implementation platform sinks;
Tail shell 12 is arranged on the tail end of stage casing pressure shell 7, and oil gas capsule 14 is installed after tail shell 12, for protection oil gas capsule 14 in deep-sea not by foreign object damage, be designed with oil sac guard shield 15 and protect;
Battery pack 9 provides power supply for all kinds of components and parts in platform, Beidou satellite communication system 1, fluid pressure drive device 8, actuating device of atmospheric pressure 11 etc., guarantees that platform normally moves;
Control circuit board 10 is controlled whole platform, and autonomous sink-float function, marine monitoring function, bi-directional communication function and the self-regulation in the time of the water surface of implementation platform become course function;
Rotating cylindrical 19 adopts the processing and manufacturing of 6061-T6 wrought aluminium, and material itself has good anti-marine corrosion ability, after machinework completes, it is carried out to the special-purpose coat of anodic oxidation treatment the anti-marine corrosion of surface spraying; The function of stable disk 20 is to guarantee the platform stability of attitude in motion process under water, the underwater vertical section of implementation platform is measured, it selects polypropylene material to be shaped to an entirety by die casting, adopt screw fastening with rotating cylindrical 19, its principal feature: the one, mould molding high conformity, is easy to batch manufacturing; The 2nd, polypropylene material is positive buoyancy in water, is conducive to the attitude of whole platform, and its water absorption rate under deepwater environment is little; Wing plate 21 is integrated by screw fastening with stable disk 20, and under the drive of motor reducer 16, can within the scope of ± 90 degree, rotate together with drive link 18, rotating cylindrical 19, stable disk 20, because a wing plate 21 has only been installed in stable disk 20, and according to its streamlined structure, in the time drifting about under the effect at current, the angle of wing plate 21 will be parallel with water (flow) direction, if change the course of platform at the water surface, just can realize with the angle of flow direction as long as adjust wing plate 21 by control circuit board 10; Wing plate 21 is formed by three kinds of materials processing manufactures, lumen loading foam, interlayer is that aluminum alloy materials guarantees that its intensity meets the demands, outer casting polyurethane is shaped, be under water neutral buoyancy state, adopt the feature of this structure to mainly contain the following aspects: the one, overall weight is light, owing to having adopted three kinds of Material claddings to shape, its weight is all more light by metal processing, makes overall weight be issued to the lightest meeting withstand voltage situation; The 2nd, good anti-collision for tool, because its skin is polyurethane material, its surface has good toughness, has improved the impact resistance in work and transportation; The 3rd, due to outer and contact with sea water be mainly polyurethane material, therefore there is good anti-marine corrosion and biological attachment function;
For implementation platform self-regulation in setting marine site becomes course vertical section measurement function, according to the demand of marine environmental monitoring, oceanographer wishes that throwing in monitoring platform at some important sea areas carries out vertical section measurement, and wish platform continuous working in it sets marine site always, therefore throw in and plunge into the commercial sea before monitoring at every cover platform, the release position longitude and latitude that designer can pre-determine according to platform is set the corresponding working sea area of this platform in its control circuit board 10 internal programs, throw in and setting behind marine site when marine monitoring platform, to first carry out self poisoning and status checking etc., and status checking result is sent to land control command centre, information is received by land control command centre, confirm that platform arranges relevant vertical section measurement parameter after normal, and start platform and start normal surveying work, when completing a vertical section, platform floats to after the water surface, first carry out self poisoning by Beidou satellite communication system 1, then locating information is sent to land control command centre, the internal piloting unit of platform will check according to its current locating information whether platform works in the marine site of its setting simultaneously, if platform is still worked in setting marine site, platform sends to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1 by starting, after being sent completely, automatically carry out next profile survey work, exceed setting marine site scope if be checked through position of platform, platform internal piloting unit will automatically perform self-regulation change heading command function, platform interval setting-up time carries out self poisoning one time, control unit is drawn out the Drifting Course of platform according to several locating information, thereby calculate direction and the flow velocity of water surface stream, the angle of the effect lower wing plate 21 now flowing at the water surface is parallel with water (flow) direction, then control unit is according to water (flow) direction, flow velocity and platform self correlation parameter calculates angle and the direction that rotary wing plate mechanism 6 should rotate, and starter motor reductor 16 moves, realizing wing plate 21 forms an angle with water (flow) direction shape, under flow action, platform will change course gradually, close to setting within the scope of marine site, simultaneously control unit is by according to several lower platform locating information after wing plate 21 angular adjustment, the Drifting Course that drafting makes new advances, and readjust the angle of wing plate 21 and water (flow) direction according to new Drifting Course, to under the effect of current, navigate by water to gradually and set within the scope of marine site by repeatedly adjusting platform, once control unit detects platform and has got back in the marine site of program setting, stop the adjustment to wing plate 21, then send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work, in addition in above-mentioned platform water surface drift process, the angle that program is adjusted according to the Drifting Course of platform and rotary wing plate mechanism 6, can calculate speed and the direction of current, for other oceanographers provide service,
Principle of work of the present utility model is: first arrive and set after release position at ship, open platform and throw in into sea with magnetic switch, now first platform will carry out self poisoning and status checking etc., and status checking result is sent to land control command centre; Information is received by land control command centre, confirms that after the normal work of platform, staff can arrange relevant vertical section measurement parameter to platform, and starts platform and start normal surveying work; After platform starts, first actuating device of atmospheric pressure 11 is opened electromagnetic valve, gas in air bag is pushed back platform inner space, reduce the displacement of volume of platform, the implementation platform water surface sinks, and then the hydraulic oil in oil sac is withdrawn into the underwater sinking function of implementation platform in hydraulic actuating cylinder by primer fluid hydraulic driver 8; In the time that platform will float, primer fluid hydraulic driver 8 fills the hydraulic oil in hydraulic actuating cylinder to get back in oil sac, thereby the underwater floating function of implementation platform, in the time that platform approaches the water surface, actuating device of atmospheric pressure 11 is inflated in air bag, the displacement of volume that increases platform, surfaces Beidou satellite communication system 1 and can realize two way communication with bank station control command centre; Platform can carry out image data work according to default in sinking and floating-upward process, realizes the monitoring of marine environment; When completing a vertical section, platform floats to after the water surface, first carry out self poisoning by Beidou satellite communication system 1, then locating information is sent to land control command centre, the internal piloting unit of platform will check according to its current locating information whether platform works in the marine site of its setting simultaneously, if platform is still worked in setting marine site, send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work; Exceed setting marine site scope if be checked through position of platform, platform internal piloting unit will automatically perform self-regulation change heading command function, by repeatedly adjust wing plate 21 angles come implementation platform automatically navigation get back to and set marine site, once control unit detects platform and has got back in the marine site of program setting, stop the adjustment to wing plate 21, then send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work; Platform will be measured setting the vertical section that circulate in marine site always, until running down of battery is for extremely.
Claims (3)
1. the measuring table of vertical section under water in a self-regulation change course in setting marine site, it is characterized in that, it comprises: head capsule (5), be arranged on the Beidou satellite communication system (1) on described head capsule (5), CT sensor (2) and depth transducer (3), pull bar (4), rotary wing plate mechanism (6), stage casing pressure shell (7), be arranged on the fluid pressure drive device (8) in described stage casing pressure shell (7), battery pack (9), control circuit board (10), actuating device of atmospheric pressure (11), motor reducer (16), motor mounting rack (17) and drive link (18), tail shell (12), fittings body (13), oil gas capsule (14), oil sac guard shield (15),
Described rotary wing plate mechanism (6) comprising: rotating cylindrical (19), stable disk (20) and wing plate (21); It is hollow that there is half cycle described rotating cylindrical (19) inside; It is upper that described motor reducer (16) in described stage casing pressure shell (7) is arranged on described motor mounting rack (17), and its output shaft is connected with the circle centre position of described rotating cylindrical (19) by described drive link (18); Described stable disk (20) and described wing plate (21) are arranged on respectively the both sides of described rotating cylindrical (19) outer circumference surface;
Described rotary wing plate mechanism (6) is arranged between described head capsule (5) and described stage casing pressure shell (7) by rotating cylindrical described in it (19), O RunddichtringO together with respectively establishing with described head capsule (5) and described stage casing pressure shell (7) contact position; Described pull bar (4) is through the hollow area of described rotating cylindrical (19), and one end is fixedly connected with described head capsule (5), and the other end is fixedly connected with described motor mounting rack (17);
Described fluid pressure drive device (8) comprising: motor combination, leading screw, hydraulic actuating cylinder, guide rail, piston body and pipeline; Described leading screw is connected with described motor combination, head is also equipped with described piston body, described piston body moves in described guide rail, hydraulic oil is injected in described oil gas capsule (14) from described hydraulic actuating cylinder by described pipeline, or the hydraulic oil in described oil gas capsule (14) is drawn in described hydraulic actuating cylinder;
Described actuating device of atmospheric pressure (11) comprising: air pump, electromagnetic valve, check valve and tracheae; Wherein, described electromagnetic valve is connected with described oil gas capsule (14) by described fittings body (13), and described air pump is inflated in described oil gas capsule (14) by described check valve and described tracheae, the rising of implementation platform; When platform sinks, open described electromagnetic valve, the gas of described oil gas capsule (14) is pushed back platform inner space;
Described tail shell (12) is arranged on the tail end of described stage casing pressure shell (7), and described oil gas capsule (14) is installed after described tail shell (12), and described oil gas capsule (14) peripheral hardware has described oil sac guard shield (15);
Described battery pack (9) provides electric power for the consumer in platform;
Autonomous sink-float function, marine monitoring function, bi-directional communication function and the self-regulation when the water surface of described control circuit board (10) to platform becomes course function and controls.
2. a kind of measuring table of vertical section under water setting self-regulation change course in marine site as claimed in claim 1, it is characterized in that, described rotating cylindrical (19) adopts the processing and manufacturing of 6061-T6 wrought aluminium, its surface is carried out spraying after anodic oxidation treatment to the coating of anti-marine corrosion; Described stable disk (20) is selected polypropylene material die cast; Described wing plate (21) lumen loading foam, interlayer is that aluminum alloy materials guarantees that its intensity meets the demands, outer casting polyurethane is shaped.
3. a kind of measuring table of vertical section under water setting self-regulation change course in marine site as claimed in claim 1 or 2, it is characterized in that, control described rotary wing plate mechanism (6) rotation by described control circuit board (10), complete the adjusting of described wing plate (21) and water (flow) direction angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320547113.4U CN203681853U (en) | 2013-09-04 | 2013-09-04 | Self-regulating course-changing underwater vertical section measuring platform in set sea area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320547113.4U CN203681853U (en) | 2013-09-04 | 2013-09-04 | Self-regulating course-changing underwater vertical section measuring platform in set sea area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203681853U true CN203681853U (en) | 2014-07-02 |
Family
ID=51003795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320547113.4U Withdrawn - After Issue CN203681853U (en) | 2013-09-04 | 2013-09-04 | Self-regulating course-changing underwater vertical section measuring platform in set sea area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203681853U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448893A (en) * | 2013-09-04 | 2013-12-18 | 中国船舶重工集团公司第七一〇研究所 | Self-regulating and course-changing underwater vertical section measuring platform in set sea area |
| CN116280129A (en) * | 2023-04-28 | 2023-06-23 | 山东北溟科技有限公司 | Buoyancy adjusting device for oil air bag |
-
2013
- 2013-09-04 CN CN201320547113.4U patent/CN203681853U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448893A (en) * | 2013-09-04 | 2013-12-18 | 中国船舶重工集团公司第七一〇研究所 | Self-regulating and course-changing underwater vertical section measuring platform in set sea area |
| CN103448893B (en) * | 2013-09-04 | 2016-01-20 | 中国船舶重工集团公司第七一〇研究所 | In setting marine site, self-regulation becomes the underwater vertical profile survey platform in course |
| CN116280129A (en) * | 2023-04-28 | 2023-06-23 | 山东北溟科技有限公司 | Buoyancy adjusting device for oil air bag |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103448893B (en) | In setting marine site, self-regulation becomes the underwater vertical profile survey platform in course | |
| CN102381464B (en) | Wave energy and solar energy driven unmanned monitoring ship for marine environment | |
| CN108454809B (en) | A kind of automatic buoyancy of double-pump type and attitude regulating mechanism | |
| CN103612723B (en) | The complete autonomous marine environmental monitoring buoy in a kind of far-reaching sea | |
| CN108674617A (en) | Underwater intelligent floating instrument device and its control system | |
| CN104527953A (en) | Circular-disc-shaped underwater glider and working method thereof | |
| CN108344403A (en) | A kind of localization sink-float self monitor and profile survey glider | |
| CN205615688U (en) | Unmanned diving outfit of crawl stroke mixed type | |
| CN108312151A (en) | It drifts about and detects underwater robot device and control method | |
| CN103587653B (en) | Oceanographic observation subsurface buoy | |
| CN103612728A (en) | Underwater three-dimensional detection gliding robot | |
| CN105715446A (en) | Sea wave energy power generation robot device with combination of suspension and floating and working method thereof | |
| CN103057680A (en) | Anti-explosion submersible for mine | |
| CN202966633U (en) | Self-adjusting type variable-buoyancy underwater platform | |
| CN109878639A (en) | Modularization pinpoints profile buoy | |
| CN204756765U (en) | Coastal waters fairway buoy based on wave energy | |
| CN109515662A (en) | A kind of charging system suitable for the underwater unmanned vehicle with permanent cruising ability | |
| CN109436255B (en) | Underwater long-distance tunnel detection robot | |
| CN209043886U (en) | A kind of portable multi-function solid water quality detection device | |
| CN203681853U (en) | Self-regulating course-changing underwater vertical section measuring platform in set sea area | |
| CN108956202A (en) | A kind of water quality sampling submariner device with depth measurement function | |
| CN207826479U (en) | A kind of integrated form Multipurpose float rod | |
| CN205333068U (en) | Buoy is surveyed to formula drift circulation section of controlling oneself | |
| CN102975832A (en) | Self-adjustable variable buoyancy underwater platform | |
| CN112018488A (en) | A folding antenna device for AUV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140702 Effective date of abandoning: 20160120 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |