CN207208415U - Underwater glider - Google Patents
Underwater glider Download PDFInfo
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- CN207208415U CN207208415U CN201720429996.7U CN201720429996U CN207208415U CN 207208415 U CN207208415 U CN 207208415U CN 201720429996 U CN201720429996 U CN 201720429996U CN 207208415 U CN207208415 U CN 207208415U
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Abstract
The utility model provides a kind of underwater glider, including：Pressure-resistant cabin, the pressure-resistant cabin are hollow structure；Lifting regulating mechanism, the lifting regulating mechanism are arranged in the pressure-resistant cabin；Gravity center adjusting mechanism, the gravity center adjusting mechanism are arranged in the pressure-resistant cabin, and the gravity center adjusting mechanism is connected with the lifting regulating mechanism；Wherein described gravity center adjusting mechanism includes phase straight line adjusting part and rotation adjusting part.Compared with prior art, the beneficial effects of the utility model are as follows：Aerodone motion is realized with a kind of observation platform to merge with buoy movement, can be used a set of observation system, is realized the two kinds of observation modes and observation method of traditional glider and traditional buoy.Due to eccentric massblock can 360 ° rotation, center of gravity is moved back and forth between non-axis line position and axis line position so that the Angle of Trim excursion of body be up to ± 90 °, roll angle can realize ± 90 ° of rotations, improve the kinetic characteristic of body.
Description
Technical field
The utility model is related to it is a kind of can depth dive greatly underwater glider.
Background technology
Underwater glider technology is that observing result scope is maximum in existing all oceanographic observation means, the duration is most long
It is a kind of.Aerodone causes it possesses to be different from general underwater research vehicle by characteristic of the net buoyancy as motion driving force merely
The overlength endurance and quietness of (such as ROV, AUV etc.).The motion control of aerodone needs to rely on net buoyancy and appearance simultaneously
The collaboration of state is allocated to complete.Wherein, attitudes vibration is controlled by the variable mass of aerodone interior location.At present, with
Further investigation to aerodone technology, there is the Sliding Structures design form of a variety of masses.Including, utilize two pieces pressure
Charge material gauge block makees length travel and lateral displacement respectively, to be respectively completed the control of aerodone Angle of Trim and Angle of Heel；Utilize two
Block ballast mass is made length travel and circumferentially rotated respectively, to be respectively completed the control of aerodone Angle of Trim and Angle of Heel；One
A little newer design forms only can complete longitudinal straight-line displacement simultaneously with one piece of ballast mass and circumferentially rotate；In addition, have
Technology above-mentioned ballast mass is substituted for battery pack, increase the airborne energy while motion control effects are reached, carry
Rise endurance.
However, these ripe aerodone attitude regulation technologies are when applied to aerodone overall construction design, it is intended that
The structured total centre of gravity of institute in addition to moving mass block overlaps with centre of buoyancy, so that the complete machine after addition moving mass block
Center of gravity produces offset distance with centre of buoyancy, and due to the limitation of movement system of mass mechanism so that during machine gravity position can not be returned to
On axis (general centre of buoyancy is all located on axis), and attitude angle is limited in scope.
Utility model content
The purpose of this utility model is to provide a kind of underwater glider.
In order to solve the above technical problems, the utility model provides a kind of underwater glider, including：Pressure-resistant cabin, it is described pressure-resistant
Cabin is hollow structure；Lifting regulating mechanism, the lifting regulating mechanism are arranged in the pressure-resistant cabin；Gravity center adjusting mechanism, institute
State gravity center adjusting mechanism to be arranged in the pressure-resistant cabin, the gravity center adjusting mechanism is connected with the lifting regulating mechanism；Wherein
The gravity center adjusting mechanism includes phase straight line adjusting part and rotation adjusting part.
Preferably, the lifting regulating mechanism includes the lifting assembly being connected with each other and lifting drive component；It is wherein described
Lifting assembly includes：Bow end cover；Outer oil sac, the outer oil sac are arranged on the side of the bow end cover；First
Supporting plate, first supporting plate are arranged at intervals with the bow end cover；First support bar, the one of the first support bar
End is connected with the bow end cover, and the other end of the first support bar is arranged in first supporting plate；Interior oil sac, institute
State the opposite side that interior oil sac is arranged on the bow end cover, the interior oil sac is located at the bow end cover and described the
Between one supporting plate.
Preferably, the quantity of the first support bar is more, and diagonal brace is connected between the more first support bars
Bar.
Preferably, gag lever post, the gag lever post are connected between the bow end cover and first supporting plate
Set around the interior oil sac.
Preferably, the lifting drive component includes：4th supporting plate, the 4th supporting plate and the first support bar
The other end connection；Second supporting plate and the 3rd supporting plate, second supporting plate and the 3rd supporting plate and the described 4th
Supporting plate is arranged at intervals successively；Connecting plate, the connecting plate are connected to second supporting plate, the 3rd supporting plate and described
The outer rim of 4th supporting plate；Valve block, the valve block are arranged in the 4th supporting plate, on the valve block set relief valve and
Magnetic valve；Oil connection, oil pump case, connecting cabin, Oil pump electrical machinery fixes sleeve and Oil pump electrical machinery, the oil connection, the oil
Pump box, the connecting cabin, the Oil pump electrical machinery fixes sleeve and the Oil pump electrical machinery are sequentially connected；Wherein described oil connection with
The valve block connection；The connecting cabin is arranged in second supporting plate；The Oil pump electrical machinery is arranged in the 3rd supporting plate；
Battery, the battery are arranged on the connecting plate.
Preferably, the straight line adjusting part includes：5th supporting plate, the 6th supporting plate, the 7th supporting plate and the 8th
Fagging, the 5th supporting plate, the 6th supporting plate, the 7th supporting plate and the 8th supporting plate are spaced set successively
Put；Leading screw, the leading screw both ends are connected with the 5th supporting plate and the 8th supporting plate respectively, and the leading screw is arranged in institute
State the 6th supporting plate and the 7th supporting plate；Linear electric motors, the linear electric motors are connected with the leading screw；Second support bar,
3rd support bar and central support tube, the second support bar, the 3rd support bar and central support tube both ends difference
It is connected with the 5th supporting plate and the 8th supporting plate, the second support bar, the 3rd support bar and the center
Support tube is arranged in the 6th supporting plate and the 7th supporting plate；Linear potentiometers, the linear potentiometers are arranged on institute
State in the 5th supporting plate.
Preferably, the rotation adjusting part includes：Electric rotating machine, the electric rotating machine are arranged on the 6th supporting plate
Side, the output shaft of the electric rotating machine passes through the 6th supporting plate；Drive gear, the drive gear are arranged on described
The opposite side of 6th supporting plate, the drive gear are arranged on the output shaft of the electric rotating machine；First big swivel bearing and
Second largest swivel bearing, the first big swivel bearing and the second largest swivel bearing are separately positioned on the 6th supporting plate
And in the 7th supporting plate；Gear ring, the gear ring are set in the outside of the described first big swivel bearing, the gear ring
Engaged with the drive gear；Supporting sleeve, the both ends of the supporting sleeve respectively with the described first big swivel bearing and described
Second largest swivel bearing connection；Eccentric massblock, the eccentric massblock are set on the outside of the supporting sleeve；Angle current potential
Meter, the angular potentiometer are arranged on the supporting sleeve.
Preferably, be provided with electronic compartment in the 8th supporting plate, it is described have tail seal end is connected with electronic compartment
Lid.
Preferably, load rejection mechanism is provided with the tail seal end cap.
Preferably, the pressure-resistant cabin includes：Pressure hull, the pressure hull are the hollow structure of insertion；Bow water conservancy diversion
Cover and afterbody kuppe, the bow kuppe and the afterbody kuppe are separately positioned on the both ends of the pressure hull；My god
Line, one end of the antenna are connected with the load rejection mechanism；The flat board wing, the flat board wing are arranged on the two of the pressure hull
Side.
Compared with prior art, the beneficial effects of the utility model are as follows：
1. realizing aerodone motion with a kind of observation platform to merge with buoy movement, a set of observation system can be used,
Realize the two kinds of observation modes and observation method of traditional glider and traditional buoy.
2. compensate for existing traditional buoy observation method can not reclaim, can not paleocinetic deficiency, carried for oceanographic observation
A kind of with having supplied economical and efficient observation method.Because recovery is difficult, factor, traditional buoys such as cost recovery is big can not be realized back after deploying troops on garrison duty
Receive, cause huge waste.And the aerodone of this mixed mode can be realized after deploying troops on garrison duty, by satellite transmission control instruction
Secondary autonomous tracking observation target, with aerodone pattern, actively target observation region is arrived in navigation, and switches to buoy pattern again
Oceanographic observation is carried out, implements manually to deploy troops on garrison duty without arriving new target observation region again, is a kind of efficient, economic, safety
Observation method.
3. due to eccentric massblock can 360 ° rotation, center of gravity is moved back between non-axis line position and axis line position
It is dynamic so that the Angle of Trim excursion of body is up to ± 90 °, and roll angle can realize ± 90 ° of rotations, and the motion for improving body is special
Property.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign objects and advantages will become more apparent upon.
Fig. 1 is the utility model underwater glider structural representation；
Fig. 2 is the utility model underwater glider internal structure schematic diagram one；
Fig. 3 is the utility model underwater glider internal structure schematic diagram two；
Fig. 4 is the utility model underwater glider internal structure schematic diagram three.
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, some changes and improvements can also be made.
These belong to the scope of protection of the utility model.
As shown in Figure 1 to 4, the utility model underwater glider, bow kuppe 1 pass through screw thread and bow end cover
9 links, the front end of pressure hull 2 are connected with bow end cover 9, and the tail end of pressure hull 2 is connected with tail seal end cap 43, afterbody
Kuppe 6 is connected by screw thread with tail seal end cap 43, so as to form the streamlined aerodone body of integral sealing.Load rejection mechanism
5 are fixed on tail seal end cap 43, and antenna watertight pressure-resistant cover 7 is fixed on the caudal opening of load rejection mechanism 5.Two pieces of flat board wings
4 are fixed on aerodone fuselage both sides by wing fixture 3 in the form of holding pressure hull 2 tightly respectively.
Outer oil sac 8 is threadably close-coupled on bow end cover 9, and is locked in inner side using big nut 20,
Outside is using progress static seal at O-ring docking port.Four first support bars 13 are connected on bow end cover 9, and four tiltedly
Strut connector 10 is enclosed in first support bar 13, and is connected two-by-two with four hounds 11.First supporting plate 14 passes through four
First support bar 13 is fixed.Four gag lever posts 21 are fixed on bow end cover 9, and opposite side is connected with the first supporting plate 14,
Swung to limit interior oil sac 12.4th supporting plate 22 is connected with four first support bars 13, and valve block 23 is arranged on the 4th support
On plate 22, interior oil sac 12 is threadably connected through the first supporting plate 14 and the 4th supporting plate 22 with valve block 23.Relief valve 16
It is fixed on two magnetic valves 24 on valve block 23.Four articles the one end of L-type connecting plate 15 is fixed in the 4th supporting plate 22, opposite side according to
It is secondary to be connected with the second supporting plate 18 and the 3rd supporting plate 19, to fix the second supporting plate 18 and the 3rd supporting plate 19.Battery 17 is solid
It is scheduled on L-type connecting plate 15.Oil pump is installed inside oil pump case 26, is fixed in the second supporting plate 18, oil connection 25 connects
In the side of oil pump case 26.Oil pump electrical machinery 29 is connected through the 3rd supporting plate 19 with Oil pump electrical machinery fixes sleeve 28.Connecting cabin 27
Left and right ends are connected with oil pump case 26 and Oil pump electrical machinery fixes sleeve 28 respectively, and oil pump and Oil pump electrical machinery 29 are connected.
Linear electric motors 30 are connected by straight line shaft coupling 52 with leading screw 44, drive leading screw 44 to rotate.The one end of leading screw 44 is fixed
In the 5th supporting plate 32, the other end is fixed in the 8th supporting plate 41.The support bar 38 of second support bar 31 and the 3rd is fixed on
In 5th supporting plate 32, and the 6th supporting plate 35, the 7th supporting plate 39 are continued to pass through, the 8th supporting plate 41 is fixed on the other end
On.6th supporting plate 35 and the 7th supporting plate 39 pass through two the first small linear bearings 40 and two the second small linear bearings respectively
46 are connected with the support bar 38 of second support bar 31 and the 3rd, and the 6th supporting plate 35 is also connected by feed screw nut 56 with leading screw 44,
It can be rotated by leading screw 44 and drive the 6th supporting plate 35 and coupled mechanism to do tandem motion.Linear potentiometers 45 are fixed
In the 6th supporting plate 35.Central support tube 53 uses the first support tube respectively through the 6th supporting plate 35 and the 7th supporting plate 39
Connector 33 and second supports pipe connections 58 to be fixed with the 5th supporting plate 32 and the 8th supporting plate 41.
Electric rotating machine 34 is connected by rotating shaft coupling 55 with drive gear 36, and is fixed on the 6th supporting plate 35 together
On.6th supporting plate 35 is enclosed in central support tube 53 by second largest linear bearing 54, and the 7th supporting plate 39 is big by first
Linear bearing 51 is enclosed in central support tube 53.The outside gear teeth of large gear ring 47 and the outside gear teeth meshing of drive gear 36, are transmitted
Rotary motion.The internal diameter of large gear ring 47 and the first big external diameter of swivel bearing 48 are interference fitted, the first big internal diameter of swivel bearing 48 with
The second largest external diameter of linear bearing 54 interference fit.The second largest internal diameter of swivel bearing 50 is matched somebody with somebody with the first big external diameter interference of linear bearing 51
Close.The both ends interference of the external diameter of first big swivel bearing 48 and the external diameter of second largest swivel bearing 50 respectively with supporting sleeve 57 is matched somebody with somebody
Close.Angular potentiometer 37 is fixed on supporting sleeve 57 with eccentric massblock 49.Electronic compartment 42 is connected in the 8th supporting plate 41.
Operation principle：
1. when needing body being adjusted to buoy state, sliding tooth is driven by rotating shaft coupling 55 by electric rotating machine 34
Wheel 36 rotates, and drive gear 36 drives large gear ring 47 to rotate, and large gear ring drives the first big swivel bearing 48 to rotate.Due to
The one big external diameter of swivel bearing 48 is interference fit with supporting sleeve 57, and therefore, the rotation of large gear ring has passed to supporting sleeve
57, then drive the eccentric massblock 49 being fixed thereon and angular potentiometer 37 to be rotated around central axis.It is whole so as to change
Position of the center of gravity of individual body on cross section.Pass through the weight trim relation that body is prior, it may be determined that going out one makes complete machine
Center of gravity is located at the circumferential position P of the eccentric massblock 49 on axis, sends control instruction by master control system, commands electric rotating machine
34 drive eccentric massblocks turn to above-mentioned commitment positions P, and now machine gravity is revert on axis, then by master control system
System control linear electric motors 30 drive leading screw 44 to rotate by straight line shaft coupling 52, therewith by connecting and the leading screw spiral shell on leading screw 44
Mother 56 converts rotational motion into linear motion, drives the 6th supporting plate 35 to do linear longitudinal movement, is moved towards bow direction,
And all structures being connected with the 6th supporting plate 35, including eccentric massblock 49 also do linear longitudinal movement in the lump, so as to change
The lengthwise position of machine gravity, the center of gravity on axis is moved along.Now, center of gravity is respectively positioned on axis with centre of buoyancy
On, but center of gravity, close to bow, close to afterbody, resulting restoring moment make it that whole body is in vertical buoy state for centre of buoyancy
(down, afterbody is upward for bow).
To sink, then instruction is sent by master control system, control oil pump motor 29 works, and drives the oil pump in oil pump case 26
Work, by the oil circuit in two switching valve blocks 23 of magnetic valve 24, external oil sac 8 carries out oil suction action, and the oil of resorption is transferred to
Interior oil sac 12, finally reduce the outer volume of oil sac 8, reduce complete machine buoyancy, and be less than gravity, body is just with buoy posture
It is heavy；Conversely, to rise, then instruction is sent by master control system, control oil pump motor 29 works, and drives the oil pump in oil pump case 26
Work, by the oil circuit in two switching valve blocks 23 of magnetic valve 24, internal oil sac 12 carries out oil suction action, and the oil of resorption is transferred to
Outer oil sac 8, finally increase the outer volume of oil sac 8, increase complete machine buoyancy, and be more than gravity, body is just risen with buoy posture.
2. when needing body being adjusted to buoy state, then with the reverse procedure of the center of gravity regulating step described in upper part
, i.e., instruction is sent by master control system, commander's electric rotating machine 34 works, drives eccentric massblock 49 to rotate, make its circumference
Commitment positions P is deviateed in position can make machine gravity deviate axis, and because hull position is constant, remain on axis
A certain position, now under the moment loading of gravity and buoyancy, body spontaneous can be adjusted to the gliding with a certain attitude angle
Machine posture.
To switch to the laggard successive step attitude angle of aerodone state, can by controlling electric rotating machine 34 to act,
Position of the center of gravity on cross section is adjusted, by controlling the action of linear electric motors 30, adjusts the lengthwise position of center of gravity, it is final to change
The posture of aerodone.
To realize floating dive campaign, control flow and operation principle and phase described in upper part under aerodone posture
Together.
Therefore, the utility model utilizes new moving mass block structure form design, with reference to new aerodone residual mass
Design form is distributed, can break through traditional glider center of gravity can not return the limitation of axis.First, moving mass block battery pack
Replace, increase aerodone endurance.Aerodone battery pack is done vertical by one group of screw pair drive of linear motion motor driving
To straight-line displacement.Meanwhile aerodone battery pack can also be driven one group of gear pair drive to rotate in a circumferential direction by rotary motion motor.Its
Secondary, in the distribution design of aerodone residual mass, taking non-axis Position Design, (i.e. residual mass center of gravity is not heavy with centre of buoyancy
Close), and design in residual mass position of centre of gravity, it should ensure that a certain ad-hoc location in mobile battery group rotates in a circumferential direction stroke
Center of gravity complementation, i.e., when mobile battery group rotates in a circumferential direction to the ad-hoc location, the residual mass center of gravity of fixed position can be realized
It is complementary with the center of gravity of mobile battery group so that machine gravity can overlap with axis.
So, when aerodone center of gravity and centre of buoyancy can be with axis, as long as again by controlling mobile battery group
Length travel, make center of gravity misaligned with centre of buoyancy, then reachable ± 90 ° of the Angle of Trim of aerodone.Further, since mobile battery group is circumferential
Rotation process can from 0 ° to 360 °, during can pass through the complementary ad-hoc location of center of gravity, thus machine gravity can non-axis again
Position is mobile to be changed between axis line position, therefore reachable ± 90 ° of complete machine roll angle.Therefore, the structure design of the aerodone can
The limitation of existing structure design form is broken through, is greatly enhanced the excursion of aerodone attitude angle (but under aerodone pattern
Specific maximum desirable attitude angle should take into account kinetic stability, and be limited by control system).
When machine gravity and centre of buoyancy are in together on axis, aerodone is in substantially vertical state (i.e. buoy pattern).This
Sample one, then by changing net buoyancy so that aerodone does snorkeling motion (i.e. buoy movement) up and down.
The utility model devise it is a kind of merge traditional glider and the novel mixed underwater glider of buoy function,
Compensate for traditional glider can not original place complete Vertical Sampling observation deficiency.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims,
This has no effect on substantive content of the present utility model.In the case where not conflicting, the spy in embodiments herein and embodiment
Sign can be arbitrarily mutually combined.
Claims (10)
- A kind of 1. underwater glider, it is characterised in that including：Pressure-resistant cabin, the pressure-resistant cabin are hollow structure；Lifting regulating mechanism, the lifting regulating mechanism are arranged in the pressure-resistant cabin；Gravity center adjusting mechanism, the gravity center adjusting mechanism are arranged in the pressure-resistant cabin, the gravity center adjusting mechanism and the liter Governor motion connection is dropped；WhereinThe gravity center adjusting mechanism includes phase straight line adjusting part and rotation adjusting part.
- 2. underwater glider according to claim 1, it is characterised in that the lifting regulating mechanism includes what is be connected with each other Lifting assembly and lifting drive component；WhereinThe lifting assembly includes：Bow end cover；Outer oil sac, the outer oil sac are arranged on the side of the bow end cover；First supporting plate, first supporting plate are arranged at intervals with the bow end cover；First support bar, one end of the first support bar are connected with the bow end cover, the first support bar it is another One end is arranged in first supporting plate；Interior oil sac, the interior oil sac are arranged on the opposite side of the bow end cover, and it is close that the interior oil sac is located at the bow Between end-blocking lid and first supporting plate.
- 3. underwater glider according to claim 2, it is characterised in that the quantity of the first support bar is more, Hound is connected between the more first support bars.
- 4. underwater glider according to claim 2, it is characterised in that in the bow end cover and described first Gag lever post is connected between fagging, the gag lever post is set around the interior oil sac.
- 5. underwater glider according to claim 2, it is characterised in that the lifting drive component includes：4th supporting plate, the 4th supporting plate are connected with the other end of the first support bar；Second supporting plate and the 3rd supporting plate, second supporting plate and the 3rd supporting plate and the 4th supporting plate are successively It is arranged at intervals；Connecting plate, the connecting plate are connected to the outer of second supporting plate, the 3rd supporting plate and the 4th supporting plate Edge；Valve block, the valve block are arranged in the 4th supporting plate, and relief valve and magnetic valve are set on the valve block；Oil connection, oil pump case, connecting cabin, Oil pump electrical machinery fixes sleeve and Oil pump electrical machinery, the oil connection, the oil pump Case, the connecting cabin, the Oil pump electrical machinery fixes sleeve and the Oil pump electrical machinery are sequentially connected；WhereinThe oil connection is connected with the valve block；The connecting cabin is arranged in second supporting plate；The Oil pump electrical machinery is worn Located at the 3rd supporting plate；Battery, the battery are arranged on the connecting plate.
- 6. underwater glider according to claim 1, it is characterised in that the straight line adjusting part includes：5th supporting plate, the 6th supporting plate, the 7th supporting plate and the 8th supporting plate, the 5th supporting plate, the 6th support Plate, the 7th supporting plate and the 8th supporting plate are arranged at intervals successively；Leading screw, the leading screw both ends are connected with the 5th supporting plate and the 8th supporting plate respectively, and the leading screw is arranged in 6th supporting plate and the 7th supporting plate；Linear electric motors, the linear electric motors are connected with the leading screw；Second support bar, the 3rd support bar and central support tube, the second support bar, the 3rd support bar and the center Support tube both ends are connected with the 5th supporting plate and the 8th supporting plate respectively, the second support bar, described 3rd Strut and the central support tube are arranged in the 6th supporting plate and the 7th supporting plate；Linear potentiometers, the linear potentiometers are arranged in the 5th supporting plate.
- 7. underwater glider according to claim 6, it is characterised in that the rotation adjusting part includes：Electric rotating machine, the electric rotating machine are arranged on the side of the 6th supporting plate, and the output shaft of the electric rotating machine passes through 6th supporting plate；Drive gear, the drive gear are arranged on the opposite side of the 6th supporting plate, and the drive gear is arranged on described On the output shaft of electric rotating machine；First big swivel bearing and second largest swivel bearing, the first big swivel bearing and the second largest swivel bearing difference It is arranged in the 6th supporting plate and the 7th supporting plate；Gear ring, the gear ring are set in the outside of the described first big swivel bearing, the gear ring and the drive gear Engagement；Supporting sleeve, the both ends of the supporting sleeve connect with the described first big swivel bearing and the second largest swivel bearing respectively Connect；Eccentric massblock, the eccentric massblock are set on the outside of the supporting sleeve；Angular potentiometer, the angular potentiometer are arranged on the supporting sleeve.
- 8. underwater glider according to claim 6, it is characterised in that electronic compartment is provided with the 8th supporting plate, It is described have tail seal end cap is connected with electronic compartment.
- 9. underwater glider according to claim 8, it is characterised in that be provided with the tail seal end cap and throw carrier aircraft Structure.
- 10. underwater glider according to claim 9, it is characterised in that the pressure-resistant cabin includes：Pressure hull, the pressure hull are the hollow structure of insertion；Bow kuppe and afterbody kuppe, the bow kuppe and the afterbody kuppe are separately positioned on the pneumatic shell The both ends of body；Antenna, one end of the antenna are connected with the load rejection mechanism；The flat board wing, the flat board wing are arranged on the both sides of the pressure hull.
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| CN201720429996.7U CN207208415U (en) | 2017-04-21 | 2017-04-21 | Underwater glider |
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|---|---|---|---|
| CN201720429996.7U CN207208415U (en) | 2017-04-21 | 2017-04-21 | Underwater glider |
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| CN108345312A (en) * | 2018-04-28 | 2018-07-31 | 上海交通大学 | Intelligent submersible vehicle center of gravity regulating system |
| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN108639283A (en) * | 2018-05-28 | 2018-10-12 | 大连海事大学 | A kind of air-drop type underwater glider detaching spademan based on water erosion |
| CN108674617A (en) * | 2018-04-28 | 2018-10-19 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
| CN108791773A (en) * | 2018-05-28 | 2018-11-13 | 大连海事大学 | A kind of air-drop type underwater glider based on electromagnetism spademan |
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| CN108438183A (en) * | 2018-04-28 | 2018-08-24 | 上海交通大学 | Oceanographic observation submersible |
| CN108674617A (en) * | 2018-04-28 | 2018-10-19 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
| CN108345312A (en) * | 2018-04-28 | 2018-07-31 | 上海交通大学 | Intelligent submersible vehicle center of gravity regulating system |
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