CN213323620U - Long-range underwater glider - Google Patents
Long-range underwater glider Download PDFInfo
- Publication number
- CN213323620U CN213323620U CN202022198643.5U CN202022198643U CN213323620U CN 213323620 U CN213323620 U CN 213323620U CN 202022198643 U CN202022198643 U CN 202022198643U CN 213323620 U CN213323620 U CN 213323620U
- Authority
- CN
- China
- Prior art keywords
- cabin
- adjusting
- cabin section
- connecting ring
- underwater glider
- 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.)
- Active
Links
Images
Landscapes
- Details Of Aerials (AREA)
Abstract
The utility model belongs to the field of underwater gliders, in particular to a long-range underwater glider which adopts a torpedo type appearance modular design and comprises a bow cabin section, an attitude adjusting cabin section, a sensor cabin section, an energy cabin section, a buoyancy adjusting cabin section, a stern cabin section and a horizontal wing, wherein the bow cabin section carries an altimeter for avoiding obstacles underwater on the glider, the attitude adjusting cabin section is provided with a pitching adjusting device, used for adjusting the pitch angle of the underwater glider, a sensor cabin section carries a detection sensor to collect ocean data, an energy cabin section carries a high-energy density battery to improve the endurance capacity, a buoyancy adjusting device is arranged on a buoyancy adjusting cabin section, the heave motion is realized by changing the water discharge volume of the carrier, a steering device is installed on the stern cabin section and used for adjusting the course of the glider, a combined antenna is used for positioning and communicating the carrier, all the cabin sections are sequentially connected by an internal pull rod, and the horizontal wings are fixed on two sides of the energy cabin section. The utility model discloses have long duration, functional strong, high reliability, compact structure, be convenient for assembly and maintenance.
Description
Technical Field
The utility model belongs to glider field under water, specifically speaking are long voyage glider under water.
Background
In recent decades, underwater gliders have become more and more widely used, and gradually play an irreplaceable role in the fields of ocean scientific research, ocean business observation and the like. However, the current underwater gliders in China generally have insufficient endurance, so that long-time observation tasks cannot be completed; meanwhile, the manpower and cost for recovering and re-arranging the underwater glider are increased, and the development of the ocean science and the related ocean business in China is severely restricted. Taking the observation of the mesoscale vortex phenomenon in the ocean by an underwater glider as an example, the survival time of the vortex with longer service life can reach more than 170 days; the cruising ability of the domestic underwater glider can not reach half a year, and the data of the whole evolution process of generating, continuing, splitting, converging and dissipating the mesoscale vortex can not be obtained. Therefore, the demand of domestic marine research institutions and marine business units on the long-endurance underwater glider is very urgent.
SUMMERY OF THE UTILITY MODEL
In order to solve the long-time observation problem of ocean phenomenon, the utility model aims to provide a long voyage glider under water. The long-range underwater glider has long endurance, can carry more types of sensors and expand more application scenes.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a bow cabin section, a posture adjusting cabin section, a sensor cabin section, an energy cabin section, a buoyancy adjusting cabin section and a stern cabin section which are sequentially and hermetically connected, wherein horizontal wings are symmetrically arranged on two sides of the energy cabin section, a pitching adjusting device for changing the pitching angle of an underwater glider is arranged in the posture adjusting cabin section, a battery pack in the pitching adjusting device is positioned in the front side of a floating center of the underwater glider, batteries for improving the cruising ability of the underwater glider are loaded in the energy cabin section, a control unit and a buoyancy adjusting device for realizing the heaving motion of the underwater glider are respectively arranged in the buoyancy adjusting cabin section, the buoyancy adjusting device is positioned on the rear side of the floating center of the underwater glider, one side of a stern end cover of the cabin section is connected with the buoyancy adjusting cabin section, a steering device and a load rejection device are respectively arranged on the other side of the cabin section, and the underwater glider floats out of the water after being abandoned by the load rejection device, the rudder in the steering device is externally arranged at the stern part of the underwater glider, the heading of the underwater glider is adjusted through the steering device, and the combined antenna is arranged on the stern end cover through a stern part supporting frame, so that the positioning and the communication of the underwater glider are realized; the control unit is respectively connected with a power source in the pitching adjusting device, a battery, a power source in the buoyancy adjusting device, a power source in the steering device, a power source in the load rejection device and the combined antenna.
Wherein: the bow part cabin comprises a bow part cabin shell, a bow part pull rod and a locking nut, the bow part cabin shell is fixed on one side of a bow part connecting ring through the bow part pull rod and is locked through the locking nut, the other side of the bow part connecting ring is connected with an attitude adjusting cabin shell of the attitude adjusting cabin section, and the space between the bow part cabin shell and the bow part connecting ring and the space between the attitude adjusting cabin shell and the bow part connecting ring are sealed through O-shaped rings to form an inner closed space.
And an altimeter for avoiding obstacles underwater is arranged in the bow cabin section and is connected with the control unit.
The attitude adjusting cabin section is provided with an attitude adjusting cabin shell, the front side and the rear side of the attitude adjusting cabin shell are respectively provided with a bow connecting ring connected with the bow cabin section and an attitude connecting ring connected with the sensor cabin section, the bow connecting ring, the attitude adjusting cabin shell and the attitude connecting rings are connected and tightened through a square tube shaft in the pitching adjusting device, the axial center line of the square tube shaft is collinear with the axial center line of the underwater glider, and the pitching angle of the underwater glider is changed through the position of a battery pack in the pitching adjusting device on the square tube shaft.
And the posture adjusting cabin shell and the bow connecting ring as well as the posture adjusting cabin shell and the posture connecting ring are sealed by O-shaped rings to form an inner closed space.
The sensor cabin comprises a sensor cabin shell and a sensor cabin pull rod, and a posture connecting ring connected with the posture adjusting cabin section is arranged on the front side of the sensor cabin shell; the energy cabin section comprises an energy cabin shell and an energy cabin pull rod, and a buoyancy adjusting connecting ring connected with the buoyancy adjusting cabin section is arranged on the rear side of the energy cabin shell; the attitude connecting ring, the sensor cabin shell and the energy cabin shell are connected through a sensor cabin pull rod, and the energy cabin shell is arranged on the buoyancy adjusting connecting ring through an energy cabin pull rod; and a sensor for acquiring marine data is installed in the sensor cabin shell, and the battery is fixed on the buoyancy adjusting connecting ring.
And the space between the sensor cabin shell and the attitude connecting ring, the space between the sensor cabin shell and the energy cabin shell and the space between the energy cabin shell and the buoyancy adjusting connecting ring are sealed by O-shaped rings to form an inner closed space.
The buoyancy adjusting cabin section comprises a buoyancy adjusting cabin shell and a guide pull rod, a buoyancy adjusting connecting ring connected with the energy cabin section is arranged on the front side of the buoyancy adjusting cabin shell, and the buoyancy adjusting cabin shell is connected with the buoyancy adjusting connecting ring through the guide pull rod; the stern end cover is positioned at the rear side of the buoyancy adjusting cabin shell, the buoyancy adjusting device is connected with the stern end cover through a stern pull rod, and the control unit is fixed on the buoyancy adjusting device.
The buoyancy adjusting cabin shell and the buoyancy adjusting connecting ring as well as the buoyancy adjusting cabin shell and the stern end cover are sealed through O-shaped rings to form an inner closed space.
The combined antenna is fixedly connected with a stern part flow guide cover, an outer skin bag of the buoyancy adjusting device, an antenna coaxial socket and an electrifying switch are contained in the stern part flow guide cover and are respectively installed on the stern part end cover, the electrifying switch is connected with the control unit, and the combined antenna is led into the underwater glider through the antenna coaxial socket.
The utility model discloses an advantage does with positive effect:
1. long endurance: the utility model discloses an overall technology optimizes, makes the glider duration under water promote by a wide margin, can solve the long-time observation problem of multiple ocean phenomenon, can reduce the material resources of using manpower sparingly of glider recovery number of times under water simultaneously.
2. The functionality is strong: the utility model discloses the basic function is surveyed for ocean section temperature salinity data, and the data detection function such as expanded turbidity, chlorophyll and dissolved oxygen in addition.
3. The reliability is high: the utility model discloses when promoting duration, develop reliability design work in step to carry out experimental verification through relevant test.
4. The structure is compact: the utility model has reasonable arrangement of mechanisms and elements, high space utilization rate, compact structure of the mechanism, light weight, low cost and convenient marine laying and recovery; by optimizing the overall layout, the number of installed batteries can be increased by 20%, the efficiency of each mechanism is improved, and the power consumption is reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a sectional view of the internal structure of the present invention;
wherein: 1 is a bow cabin section, 2 is a posture adjusting cabin section, 3 is a sensor cabin section, 4 is an energy cabin section, 5 is a buoyancy adjusting cabin section, 6 is a stern cabin section, 7 is a horizontal wing, 8 is a bow cabin shell, 9 is a bow connecting ring, 10 is a posture adjusting cabin shell, 11 is a pitching adjusting device, 12 is a posture connecting ring, 13 is a sensor cabin shell, 14 is an energy cabin shell, 15 is a buoyancy adjusting connecting ring, 16 is a buoyancy adjusting cabin shell, 17 is a stern end cover, 18 is a steering device, 19 is a stern supporting frame, 20 is a flow guide cover, 21 is a combined antenna, 22 is an antenna coaxial socket, 23 is an upper switch, 24 is a load rejection device, 25 is a stern pull rod, 26 is a control unit, 27 is a buoyancy adjusting device, 28 is a guide pull rod, 29 is a battery, 30 is an energy cabin pull rod, 31 is a salt depth sensor, 32 is a sensor cabin pull rod, 33 is a square pipe shaft, 34 is a bow pull rod, 35 is a height gauge and 36 is a lock nut.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the utility model discloses a bow portion cabin section 1, gesture control cabin section 2, sensor cabin section 3, energy cabin section 4, buoyancy control cabin section 5 and stern portion cabin section 6 of sealing connection in proper order, each pull rod through inside setting between each cabin section is connected gradually by stern portion to the bow portion and is formed torpedo formula appearance, adopt O type circle sealed between the cabin shell of each cabin section and the cabin section go-between, and then constitute inside airtight space, the both sides of energy cabin section 4 are passed through the fix with screw and are had symmetrical two horizontal wings 7. A pitching adjusting device 11 for changing the pitching angle of the underwater glider is arranged in the attitude adjusting cabin section 2, and a battery pack in the pitching adjusting device 11 is positioned on the front side of the floating center of the underwater glider, so that the underwater glider is convenient to replace and maintain. The energy cabin 4 carries a battery 29 for improving the cruising ability of the underwater glider. A control unit 26 and a buoyancy adjusting device 27 for realizing the heave motion of the underwater glider are respectively installed in the buoyancy adjusting cabin section 5, and the buoyancy adjusting device 27 is positioned at the rear side of the floating center of the underwater glider. One side of a stern end cover 17 of the stern section 6 is connected with the buoyancy adjusting section 5, the other side of the stern end cover is respectively provided with a steering device 18 and a load rejection device 24, and the underwater glider floats out of the water surface after abandoning heavy objects through the load rejection device 24. The rudder in the steering device 18 is arranged outside the stern part of the underwater glider, and the heading of the underwater glider is adjusted through the steering device 18. The combined antenna 21 is installed on the stern end cover 17 through the stern support frame 19, and positioning and communication of the underwater glider are achieved. The control unit 26 of the present invention is a prior art, and adopts a low power consumption processor to further improve the endurance of the underwater glider; the control unit 26 is connected to the power source in the pitch adjustment device 11, the battery 29, the power source in the buoyancy adjustment device 27, the power source in the steering device 18, the power source in the load rejection device 24, and the combined antenna 21, respectively.
The bow cabin 1 of the present embodiment comprises a bow cabin 8, bow tie rods 34 and locking nuts 36, the bow cabin 8 is fixed on one side of a bow connecting ring 9 through two bow tie rods 34 and is locked through the locking nuts 36, and the other side of the bow connecting ring 9 is connected with the attitude adjusting cabin 10 of the attitude adjusting cabin 2. The space between the bow part cabin shell 8 and the bow part connecting ring 9 and the space between the attitude adjusting cabin shell 10 and the bow part connecting ring 9 are sealed by O-shaped rings to form an inner closed space. An altimeter 35 is arranged in the front end of the bow part cabin shell 8 of the bow part cabin section 1, and the altimeter 35 is connected with the control unit 26 for avoiding obstacles underwater.
The attitude adjusting cabin section 2 of the embodiment is provided with an attitude adjusting cabin shell 10, the front side and the rear side of the attitude adjusting cabin shell 10 are respectively provided with a bow connecting ring 9 connected with a bow cabin shell 8 and an attitude connecting ring 12 connected with a sensor cabin shell 13 of a sensor cabin section 3, the bow connecting ring 9, the attitude adjusting cabin shell 10 and the attitude connecting ring 12 are connected and tensioned through a square tube shaft 33 in a pitching adjusting device 11, the axial center line of the square tube shaft 33 is collinear with the axial center line of the underwater glider, a battery pack can slide back and forth on the square tube shaft 33, and the axial relative position of the gravity center and the buoyancy center of the underwater glider is changed through the position of the battery pack in the pitching adjusting device 11 on the square tube shaft 33, so that the underwater glider can keep a required pitching angle to float up or descend and glide. The space between the attitude adjusting capsule shell 10 and the bow connecting ring 9 and the space between the attitude adjusting capsule shell 10 and the attitude connecting ring 12 are sealed by O-shaped rings to form an inner closed space. The utility model discloses a every single move adjusting device 11 is prior art, adopts 2017 8 month 25 days announcements, authorizes that the notice number is CN104369850B "a every single move adjusting device for shallow water glider", and this every single move adjusting device adopts worm gear drive mechanism, has self-locking function.
The sensor cabin section 3 of the present embodiment includes a sensor cabin shell 13 and a sensor cabin tension rod 32, and the front side of the sensor cabin shell 13 is provided with a posture connection ring 12 connected with the posture adjustment cabin shell 10. The energy cabin section 4 comprises an energy cabin shell 14 and an energy cabin pull rod 30, and a buoyancy adjusting connecting ring 15 connected with a buoyancy adjusting cabin shell 16 of the buoyancy adjusting cabin section 5 is arranged on the rear side of the energy cabin shell 14. The attitude connecting ring 12, the sensor cabin shell 13 and the energy cabin shell 14 are connected through a sensor cabin pull rod 32, and the energy cabin shell 14 is arranged on the buoyancy adjusting connecting ring 15 through an energy cabin pull rod 30. The sensor cabin shell 13 is internally provided with a sensor for collecting marine data, the sensor is connected with the control unit 26, and a battery 29 is fixed on the end surface of the buoyancy adjusting connecting ring 15. The sensor of this embodiment can be a thermohaline depth sensor 31, and an axial sealing mode is adopted between this thermohaline depth sensor 31 and the sensor capsule 13, and the sensor capsule 13 can also be installed with sensors such as turbidity and chlorophyll according to the application demand. The inner closed space is formed by sealing the space between the sensor cabin shell 13 and the attitude connecting ring 12, the space between the sensor cabin shell 13 and the energy cabin shell 14 and the space between the energy cabin shell 14 and the buoyancy adjusting connecting ring 15 through O-shaped rings.
The buoyancy adjusting cabin section 5 of the present embodiment includes a buoyancy adjusting cabin shell 16 and a guiding pull rod 28, a buoyancy adjusting connection ring 15 connected to the energy cabin shell 14 is disposed at the front side of the buoyancy adjusting cabin shell 16, the buoyancy adjusting cabin shell 16 is connected to the buoyancy adjusting connection ring 15 through the guiding pull rod 28, and the guiding pull rod 28 fixes the buoyancy adjusting device 27 on the stern connection ring 15 and fastens the stern cabin shell 16. The stern end cover 17 is located at the rear side of the buoyancy adjusting cabin shell 16, the buoyancy adjusting device 27 is connected with the stern end cover 17 through a stern pull rod 25, and the control unit 26 is fixed on an inner bladder end cover of the buoyancy adjusting device 27 through screws. The space between the buoyancy adjusting cabin shell 16 and the buoyancy adjusting connecting ring 15 and the space between the buoyancy adjusting cabin shell 16 and the stern end cover 17 are sealed by O-shaped rings to form an inner closed space. The utility model discloses a buoyancy adjusting device 27 is prior art, adopts 2013 11 month 6 days in 11, 6 announcements, the authorization bulletin number to be "a two-way oil extraction formula buoyancy adjusting device for underwater robot" of CN102079375B, and this buoyancy adjusting device 27 adopts the work of two-way gear pump of direct current motor drive, through two-way gear pump just, reversal realization oil extraction or oil return. When oil is discharged, the bidirectional gear pump pumps oil in the inner skin bag of the carrier to the outer skin bag, after the direct current motor stops working, the one-way valve ensures that the oil cannot flow back, and the water discharge volume is increased due to the increase of the oil filling amount of the outer skin bag, so that the buoyancy of the underwater glider is increased. When oil returns, the electromagnetic valve on the oil return path is opened, the direct current motor drives the bidirectional gear pump to rotate reversely, oil in the outer leather bag returns to the inner leather bag, the reduction of the water discharge volume is realized, and the buoyancy of the underwater glider is reduced. Through the oil extraction or the oil return of inside and outside skin bag, and then adjust the buoyancy of glider under water, simple structure, safe and reliable can improve buoyancy regulating power through adjusting inside and outside skin bag volume.
The combined antenna 21 of the embodiment is fixedly connected with a stern fairing 20, an outer skin bag of a buoyancy adjusting device 27, an antenna coaxial socket 22 and an electrifying switch 23 are respectively arranged on a stern end cover 17 in the stern fairing 20, the electrifying switch 23 is connected with a control unit 26 and is used for operating or stopping the underwater glider, and the combined antenna 21 is led into the underwater glider through the antenna coaxial socket 22. Turn to device 18, load rejection device 24, antenna coaxial socket 22 and go up electric switch 23 and fix on stern end cover 17 through wearing cabin spare separately, the utility model discloses a turn to device 18 for prior art, adopt 2014 1 month 8 day bulletin, authorize bulletin number "a turn to device for the glider under water" that is CN102476706B, should turn to device 18 and adopt the motor control rudder to rotate the course that is used for real-time adjustment glider under water, the rudder of perpendicular design can also play the effect of stabilizing glider under water simultaneously. The utility model discloses a throw and carry device 24 is prior art, adopt 2018 11 month 20 days announcements, the announcement number is "an underwater robot throws and carries the device for safety" of CN106926994B, should throw and carry device 24 and throw and carry the structure for mechanical type, when great trouble appears in the glider under water, throw and carry the motor and drive through the reduction gear after slowing down and give and throw and carry the pivot rotation, throw and carry the pivot and drive runner and rotate together with the opening wheel, when the opening wheel rotated its opening position down, throw and carry the bulb of lead block and will follow opening department and drop. Meanwhile, the load rejection device 24 is independently powered and controlled by an independent control system. The stern supporting frame 19 is fixed on the stern end cover 17 through screws, and the combined antenna 21 is installed on the stern supporting frame 19 through screws and located on the rear side of the underwater glider, so that carrier positioning and communication are achieved. The stern fairing 20 is fixed to the combined antenna 21 by screws, and its streamline shape is used to reduce the sailing resistance of the underwater glider.
The utility model discloses a theory of operation does:
the underwater glider mainly realizes sawtooth-shaped gliding movement by changing self net buoyancy and attitude angle, and when the underwater glider finishes one period of gliding movement and then floats out of the water surface, the current position of the underwater glider is determined by adopting a GPS (global positioning system), and communication connection can be established with a support mother ship or a land-based monitoring center through a satellite communication system. Through the established communication link, the monitoring center can receive data such as hydrology measured in the last operation period of the underwater glider, and can send a new operation task to the underwater glider. The GPS positioning system is connected to the control unit 26, and the combined antenna 21 is connected to the control unit 26 through a communication module.
The utility model has the advantages of long duration, functional strong, high reliability, compact structure, be convenient for assembly and maintenance, can be in marine trouble-free navigation 211 days in succession, the journey surpasses 3400 Km.
Claims (10)
1. The utility model provides a long voyage glider under water which characterized in that: the device comprises a bow cabin section (1), a posture adjusting cabin section (2), a sensor cabin section (3), an energy cabin section (4), a buoyancy adjusting cabin section (5) and a stern cabin section (6) which are sequentially and hermetically connected, wherein horizontal wings (7) are symmetrically arranged on two sides of the energy cabin section (4), a pitching adjusting device (11) for changing the pitching angle of an underwater glider is arranged in the posture adjusting cabin section (2), a battery pack in the pitching adjusting device (11) is positioned on the front side of a buoyancy center of the underwater glider, a battery (29) for improving the endurance capacity of the underwater glider is loaded in the energy cabin section (4), a control unit (26) and a buoyancy adjusting device (27) for realizing the heave motion of the underwater glider are respectively arranged in the buoyancy adjusting cabin section (5), the buoyancy adjusting device (27) is positioned on the rear side of the buoyancy center of the underwater glider, one side of an end cover (17) of the stern cabin section (6) is connected with the buoyancy adjusting cabin section (5), the other side of the underwater glider is provided with a steering device (18) and a load rejection device (24) respectively, the underwater glider floats out of the water surface after discarding heavy objects through the load rejection device (24), a rudder in the steering device (18) is arranged outside the stern part of the underwater glider, the heading of the underwater glider is adjusted through the steering device (18), and a combined antenna (21) is arranged on a stern part end cover (17) through a stern part support frame (19) to realize the positioning and communication of the underwater glider; the control unit (26) is respectively connected with a power source in the pitching adjusting device (11), a battery (29), a power source in the buoyancy adjusting device (27), a power source in the steering device (18), a power source in the load rejection device (24) and the combined antenna (21).
2. The long range underwater glider of claim 1, characterized in that: the bow cabin section (1) comprises a bow cabin shell (8), a bow pull rod (34) and a locking nut (36), the bow cabin shell (8) is fixed on one side of a bow connecting ring (9) through the bow pull rod (34) and is locked through the locking nut (36), the other side of the bow connecting ring (9) is connected with an attitude adjusting cabin shell (10) of the attitude adjusting cabin section (2), and the space between the bow cabin shell (8) and the bow connecting ring (9) and the space between the attitude adjusting cabin shell (10) and the bow connecting ring (9) are sealed through O-shaped rings to form an inner closed space.
3. The long range underwater glider of claim 1, characterized in that: an altimeter (35) used for avoiding obstacles underwater is arranged in the bow cabin section (1), and the altimeter (35) is connected with the control unit (26).
4. The long range underwater glider of claim 1, characterized in that: the attitude adjusting cabin section (2) is provided with an attitude adjusting cabin shell (10), the front side and the rear side of the attitude adjusting cabin shell (10) are respectively provided with a bow connecting ring (9) connected with the bow cabin section (1) and an attitude connecting ring (12) connected with the sensor cabin section (3), the bow connecting ring (9), the attitude adjusting cabin shell (10) and the attitude connecting ring (12) are connected and tensioned through a square tubular shaft (33) in a pitching adjusting device (11), the axial center line of the square tubular shaft (33) is collinear with the axial center line of the underwater glider, and the pitching angle of the underwater glider is changed through the position of a battery pack in the pitching adjusting device (11) on the square tubular shaft (33).
5. The long range underwater glider of claim 4, characterized in that: and the space between the attitude adjusting cabin shell (10) and the bow connecting ring (9) and the space between the attitude adjusting cabin shell (10) and the attitude connecting ring (12) are sealed by O-shaped rings to form an inner closed space.
6. The long range underwater glider of claim 1, characterized in that: the sensor cabin section (3) comprises a sensor cabin shell (13) and a sensor cabin pull rod (32), and a posture connecting ring (12) connected with the posture adjusting cabin section (2) is arranged on the front side of the sensor cabin shell (13); the energy cabin section (4) comprises an energy cabin shell (14) and an energy cabin pull rod (30), and a buoyancy adjusting connecting ring (15) connected with the buoyancy adjusting cabin section (5) is arranged on the rear side of the energy cabin shell (14); the attitude connecting ring (12), the sensor cabin shell (13) and the energy cabin shell (14) are connected through a sensor cabin pull rod (32), and the energy cabin shell (14) is arranged on the buoyancy adjusting connecting ring (15) through an energy cabin pull rod (30); a sensor for collecting marine data is installed in the sensor cabin shell (13), and the battery (29) is fixed on the buoyancy adjusting connecting ring (15).
7. The long range underwater glider of claim 6, characterized in that: and the space between the sensor cabin shell (13) and the attitude connecting ring (12), the space between the sensor cabin shell (13) and the energy cabin shell (14) and the space between the energy cabin shell (14) and the buoyancy adjusting connecting ring (15) are sealed by O-shaped rings to form an inner closed space.
8. The long range underwater glider of claim 1, characterized in that: the buoyancy adjusting cabin section (5) comprises a buoyancy adjusting cabin shell (16) and a guide pull rod (28), a buoyancy adjusting connecting ring (15) connected with the energy cabin section (4) is arranged on the front side of the buoyancy adjusting cabin shell (16), and the buoyancy adjusting cabin shell (16) is connected with the buoyancy adjusting connecting ring (15) through the guide pull rod (28); the stern end cover (17) is located on the rear side of the buoyancy adjusting cabin shell (16), the buoyancy adjusting device (27) is connected with the stern end cover (17) through a stern pull rod (25), and the control unit (26) is fixed on the buoyancy adjusting device (27).
9. The long range underwater glider of claim 8, wherein: and the space between the buoyancy adjusting cabin shell (16) and the buoyancy adjusting connecting ring (15) and the space between the buoyancy adjusting cabin shell (16) and the stern end cover (17) are sealed by O-shaped rings to form an inner closed space.
10. The long range underwater glider of claim 1, characterized in that: the combined antenna (21) is fixedly connected with a stern fairing (20), an outer skin bag of a buoyancy adjusting device (27), an antenna coaxial socket (22) and an electrifying switch (23) are arranged in the stern fairing (20) and are respectively arranged on the stern end cover (17), the electrifying switch (23) is connected with the control unit (26), and the combined antenna (21) is led into the underwater glider through the antenna coaxial socket (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022198643.5U CN213323620U (en) | 2020-09-30 | 2020-09-30 | Long-range underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022198643.5U CN213323620U (en) | 2020-09-30 | 2020-09-30 | Long-range underwater glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213323620U true CN213323620U (en) | 2021-06-01 |
Family
ID=76069995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022198643.5U Active CN213323620U (en) | 2020-09-30 | 2020-09-30 | Long-range underwater glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213323620U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141304A (en) * | 2020-09-30 | 2020-12-29 | 中国科学院沈阳自动化研究所 | Long-range underwater glider |
| CN116733454A (en) * | 2023-08-01 | 2023-09-12 | 西南石油大学 | Intelligent water finding method for horizontal well |
-
2020
- 2020-09-30 CN CN202022198643.5U patent/CN213323620U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141304A (en) * | 2020-09-30 | 2020-12-29 | 中国科学院沈阳自动化研究所 | Long-range underwater glider |
| CN116733454A (en) * | 2023-08-01 | 2023-09-12 | 西南石油大学 | Intelligent water finding method for horizontal well |
| CN116733454B (en) * | 2023-08-01 | 2024-01-02 | 西南石油大学 | Intelligent water finding method for horizontal well |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103832564B (en) | A kind of design of shuttle shape underwater glider and control method | |
| CN111634396B (en) | Composite power underwater glider using battery electric energy and ocean temperature difference energy | |
| US11161578B2 (en) | Biomimetic robotic manta ray | |
| CN213323620U (en) | Long-range underwater glider | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN100445167C (en) | Hybrid driven under-water self-navigation device | |
| CN109703705B (en) | Semi-submersible unmanned platform | |
| CN106628076B (en) | Rotary wings underwater glider | |
| CN100532192C (en) | Hybrid type underwater sailing device | |
| CN109018271B (en) | Novel large-span hybrid drive unmanned underwater vehicle | |
| CN103507929B (en) | Combination wing anti-current type underwater glider | |
| CN1326746C (en) | Underwater self-navigating platform mechanical system | |
| CN208393605U (en) | Underwater intelligent floating instrument device and its control system | |
| CN110641637B (en) | Ocean observation platform with controllable track based on thermoelectric power generation | |
| CN112660347B (en) | Energy-saving underwater glider | |
| CN112124538A (en) | 7000 meter-level deep-Yuan underwater glider | |
| CN105539784A (en) | Web wing type wave energy underwater gliding measurement platform and measurement method | |
| CN108545162A (en) | Underwater spectroradiometer based on water jet driving | |
| WO2022267088A1 (en) | Hybrid-driven underwater glider for hadal trench observation | |
| CN112141304A (en) | Long-range underwater glider | |
| CN214356597U (en) | Microminiature is glider under water | |
| CN213323621U (en) | 7000 meter deep underwater glider | |
| CN115783200B (en) | Positive camber wing underwater glider | |
| CN109572937A (en) | A kind of deep-sea control buoy | |
| CN110871877B (en) | Disc type underwater glider |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |