CN104670444B - A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft - Google Patents
A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft Download PDFInfo
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- CN104670444B CN104670444B CN201310639466.1A CN201310639466A CN104670444B CN 104670444 B CN104670444 B CN 104670444B CN 201310639466 A CN201310639466 A CN 201310639466A CN 104670444 B CN104670444 B CN 104670444B
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Abstract
The present invention relates to the corollary equipment of Autonomous Underwater aircraft, specifically a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft, including buoyancy material outer housing, outer leather bag cabin, leather bag, control cabinet pneumatic shell, control valve, pressure-resistant cabin side end cap and pressure-resistant cabin housing, outer leather bag cabin, control cabinet pneumatic shell, pressure-resistant cabin side end cap and pressure-resistant cabin housing are sequentially connected, and wrapped up by buoyancy material outer housing, leather bag is respectively provided with outer leather bag cabin and pressure-resistant cabin housing, on outer leather bag cabin, limbers is provided with；Control valve is connected with two leather bags in control cabinet pneumatic shell respectively, controls the flow direction that valve controls oil between two leather bags by Autonomous Underwater aircraft；Fluid in outer leather bag cabin in leather bag is flowed in the leather bag in pressure-resistant cabin housing, carries out the regulation of buoyancy by the change of the leather bag volume in outer leather bag cabin.Trim by dive of the present invention, is not required to carry out extra trim operation, just can achieve the optimization trim of weight buoyancy.
Description
Technical field
The present invention relates to the corollary equipment of Autonomous Underwater aircraft, specifically a kind of for Autonomous Underwater aircraft
Unidirectional buoyancy regulating device.
Background technology
Deep-sea Autonomous Underwater aircraft is a kind of underwater platform for carrying out autonomous navigation by the self-contained energy, can complete
Deep seafloor resource and the various detection missions of the energy, with important value.Latent depth due to deep-sea Autonomous Underwater aircraft
Greatly, when unknown big basin navigates by water, with the increase of diving depth, the buoyancy of Autonomous Underwater aircraft can become larger,
The performance that this meeting strong influence Autonomous Underwater aircraft is navigated by water in big basin；And, the incrementss of buoyancy and different water
Domain situation and depth are related.Big latent depth Autonomous Underwater aircraft is at the deep investigation initial stage of being dived greatly, needs according to concrete marine site
The optimization trim of weight buoyancy is carried out with latent depth.As under big deep-water submersible, various and pressure-resistant cabin the form of aircraft composition material is each not
Identical, and the uncertainty of different navigation waters hydrological environments, the accurate difference keel depth trim amounts that calculate are highly difficult, therefore need
Trim to be carried out before the test for different submerged depths；And under the abyssal environment of ocean, trim process takes and difficult very much.
At present, general using a point dive trim several times, step up submerged depth and be stepped up trim lead method reach predetermined
The purpose of depth optimization navigation.2～3 dives are generally needed just to realize the optimization trim in desired depth.By
In keel depth greatly, dive and floating operating process implementation cycle length and relative difficulty, poor sensitivity, a large amount of manpower things of consuming
Power, therefore, reducing Autonomous Underwater aircraft dive trim number of times and improving trim quality has important practical significance.
Content of the invention
It is an object of the invention to provide a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft.This is unidirectional floating
Apparatus for adjusting force is in the main body of Autonomous Underwater aircraft, it is not necessary to a large amount of energy consumed in Autonomous Underwater aircraft,
Just the unidirectional buoyancy for reducing aircraft of predetermined keel depth may be implemented in so that aircraft is optimal in predetermined work depth
Weight buoyant equilibrium state, and then Autonomous Underwater aircraft can be made to complete inter-related task under the depth；The unidirectional buoyancy adjustment
For big latent depth Autonomous Underwater aircraft, when unknown marine site and different depth are navigated by water, trim by a dive, is not required to device
Extra trim operation is carried out, the optimization trim of weight buoyancy is just can achieve.
The purpose of the present invention is achieved through the following technical solutions：
In the Autonomous Underwater aircraft, including buoyancy material outer housing, outer leather bag cabin, leather bag, control cabinet is pressure for the present invention
Shell, control valve, pressure-resistant cabin side end cap and pressure-resistant cabin housing, wherein outer leather bag cabin, control cabinet pneumatic shell, pressure-resistant cabin side end cap with resistance to
Ballasting housing is sequentially connected, and is wrapped up by the buoyancy material outer housing, is respectively provided with the outer leather bag cabin and pressure-resistant cabin housing
Leather bag, is provided with limbers on the outer leather bag cabin；The control valve in the control cabinet pneumatic shell, respectively with outer leather bag cabin and resistance to
Leather bag in ballasting housing is connected, and the control valve controls the flowing side of oil between two leather bags by the Autonomous Underwater aircraft
To；Sea water is entered in outer leather bag cabin by the limbers, and the fluid in the outer leather bag cabin in leather bag flows to pressure-resistant cabin shell
In internal leather bag, the regulation of buoyancy is carried out by the change of the leather bag volume in outer leather bag cabin.
Wherein：The buoyancy material outer housing by being connected plate in the Autonomous Underwater aircraft, outer leather bag cabin and resistance to
The connection ring that with the be connected plate be connected is cased with ballasting housing respectively；The one end in the outer leather bag cabin is pressure with control cabinet
One end of shell is tightly connected, and the limbers is opened in the other end in outer leather bag cabin；It is provided with leather bag in the outer leather bag cabin
Installed in the outer oil bag outlet gland of control cabinet pneumatic shell one end, on the outer oil bag outlet gland, logical oil groove is provided with；The outer oil
Capsule outlet gland is in spherical crown shape；Threaded connection hydraulic fluid port throttling unit is had on the control cabinet pneumatic shell and outlet blocks head
Screwed hole, the wherein both sides of hydraulic fluid port throttling unit are connected with the logical oil groove and the control valve by oil circuit respectively,
Oil circuit between hydraulic fluid port throttling unit and logical oil groove is provided with inserting check valve；The outlet blocks the screwed hole at head place and passes through
Oil circuit between oil circuit and hydraulic fluid port throttling unit and inserting check valve is connected, and fluid is by the outside leather bag cabin of the screwed hole
Flow back in leather bag, in the screwed hole, be provided with spring and containment member；
The oil-filled shell of line outlet is sealed and installed with the control cabinet pneumatic shell, and one end of socket passes through the oil-filled shell of the line outlet
In insertion control cabinet pneumatic shell, the other end is located in the groove of the oil-filled shell of line outlet, and by the top of the oil-filled shell of line outlet
Line outlet end cap seal parcel；
One end of the pressure-resistant cabin housing is connected with control cabinet pneumatic shell by pressure-resistant cabin side end cap, and the other end has
External pressure table interface and external inflation mouth, are provided with installed in pressure-resistant cabin outside the external pressure table interface and external inflation mouth
Seal closure on the housing other end；Leather bag in the pressure-resistant cabin housing be provided with one end of pressure-resistant cabin side end cap internal every
Leather bag in spherical shell, pressure-resistant cabin housing is attached in the gabarit of the internal insulation spherical shell when shrinking；The internal insulation ball
The anti-jet baffle plate on pressure-resistant cabin side end cap is provided with inside shell；Detection pressure-resistant cabin shell is provided with the control cabinet pneumatic shell
The internal pressure table of body internal gas pressure.
Advantages of the present invention with good effect is：
1. the present invention, can using the principle of displacement is reduced controlling buoyancy of the Autonomous Underwater aircraft when deep-sea is navigated by water
The buoyancy trim of desired depth is accurately carried out at unknown marine site or different depth maiden voyage after completing to carry, after trim i.e.
Can carry out navigation detection, and can conveniently read the trim amount of desired depth, after the present invention that then dismantles, by the last time trim amount
Carry out the optimization trim of Autonomous Underwater aircraft, it is to avoid the multiple trim operation under unknown marine site and depth.
2. the present invention is the module of One function independence, by the plate that is connected by screw and Autonomous Underwater aircraft master
Body connects, therefore the connection between the present invention and Autonomous Underwater aircraft and separates very convenient, reliable, is easily installed and dismantles.
3. the present invention offers screwed hole on control cabinet pneumatic shell, and hydraulic fluid port throttling unit and outlet block head and be placed on spiral shell
In pit, its middle outlet is blocked, and under the action of the spring, seals structure
Part meeting automatic-sealed, ensures that with this fluid in leather bag will not be revealed；Outlet blocks head and can be threaded under normal conditions
In hole, only when fluid needs to play back, just need to remove outlet and block head.
4. on pressure-resistant cabin housing of the present invention, be mounted with two interfaces of external pressure table interface and external inflation mouth, by this two
The initial gas pressure of the controllable pressure-resistant cabin enclosure interior of individual interface, obtains pressure-resistant cabin shell by internal pressure sensor is measurable
The real-time pressure in internal portion, air pressure liter after in the leather bag that the fluid in the leather bag in outer leather bag cabin is flowed in pressure-resistant cabin housing
Height, by the pressure value of internal pressure sensor and the temperature value of Autonomous Underwater aircraft this bulk measurement, can Accurate Estimation go out floating
The buoyancy adjustment amount of draught control system, it is achieved that the precise control of buoyancy adjustment.
Description of the drawings
Fig. 1 is the structural representation of the Autonomous Underwater aircraft for being mounted with the present invention；
Fig. 2 is the structural representation of the present invention；
Fig. 3 is the internal structure sectional view of the present invention；
Fig. 4 is the partial enlarged drawing in Fig. 3 at I；
Fig. 5 is the close-up schematic view of control cabinet part of the present invention；
Fig. 6 is the Hydraulic System Principle schematic diagram of the present invention；
Wherein：1 is buoyancy material outer housing, and 2 are the plate that is connected, and 3 is hydraulic fluid port throttling unit, and 4 is connection ring, and 5 is outer leather bag
Cabin, 6 is leather bag, and 7 is line outlet end cap, and 8 is the oil-filled shell of line outlet, and 9 is pressure-resistant cabin side end cap, and 10 is internal insulation spherical shell, 11
For pressure-resistant cabin housing, 12 is screw, and 13 is sealing ring, and 14 block head for outlet, and 15 is outer oil bag outlet gland, and 16 is socket,
17 is two position two-way valve, and 18 is control cabinet pneumatic shell, and 19 is electronic unit, and 20 are inserting check valve, and 21 is limbers, and 22 is outer
Portion's pressure gauge connection, 23 is external inflation mouth, and 24 is that the first oil return bypasses interface, and 25 is that the second oil return bypasses interface, and 26 is interior
Portion's pressure gauge, 27 is submarine navigation device, and 28 is anti-jet baffle plate, and 29 are logical oil groove, and 30 is seal closure.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the unidirectional buoyancy regulating device of the present invention is fixed in Autonomous Underwater entirely through the plate 2 that is connected
In aircraft 27.As shown in figures 1-4, the present invention include buoyancy material outer housing 1, outer leather bag cabin 5, leather bag 6, control cabinet pneumatic shell 18,
Control valve, pressure-resistant cabin side end cap 9 and pressure-resistant cabin housing 11, the present invention controls valve for two position two-way valve 17；Be connected plate 2
It is fixed in Autonomous Underwater aircraft 27 by screw 12, buoyancy material outer housing 1 is fixed on by screw 12 and is connected on plate 2,
The internal structure of the unidirectional buoyancy regulating device of the present invention is wrapped up by outer leather bag cabin 5, pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18
, outer leather bag cabin 5, pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18 are wrapped in by buoyancy outer housing 1 again, are played certain protection and are made
With.Outer leather bag cabin 5, control cabinet pneumatic shell 18, pressure-resistant cabin side end cap 9 and pressure-resistant cabin housing 11 are sequentially connected, outer leather bag cabin 5 and resistance to
Connection ring 4 is cased with ballasting housing 11 respectively, and outer leather bag cabin 5 and pressure-resistant cabin housing 11 are fixed on connection by connection ring 4 respectively
In fixed plate 2.The buoyancy material of the present invention is prior art, is glass microballoon and epoxy resin composite material.
The one end in outer leather bag cabin 5 is tightly connected with one end of control cabinet pneumatic shell 18, and the other end is provided with limbers 21, sea water
Entered in outer leather bag cabin 5 by limbers 21；Leather bag 6 is provided with outer leather bag cabin 5, is provided with the leather bag 6 in outer leather bag cabin 5
The outer oil bag outlet gland 15 of 18 one end end face of control cabinet pneumatic shell is fixed in, the shape of the outer oil bag outlet gland 15 is in spherical crown
Shape, the leather bag 6 in external leather bag cabin 5 shield, and are provided with logical oil groove 29, outer leather bag cabin 5 on outer oil bag outlet gland 15
Fluid in interior leather bag 6 can be flowed out by the logical oil groove 29.
One end of pressure-resistant cabin housing 11 is connected with the other end of control cabinet pneumatic shell 18 by pressure-resistant cabin side end cap 9, pressure
The other end of cabin housing 11 has external pressure table interface 22 and external inflation mouth 23, and external pressure table interface 22 is used for connecing
Pressure transducer, determines the pressure of the 6 inside fluid of leather bag in pressure-resistant cabin housing 11, and external inflation mouth 23 is communicated with air,
When the leather bag 6 in outer leather bag cabin 5 needs oil return, pressure-resistant cabin shell can be made by inflating into the cabin of pressure-resistant cabin housing 11
The fluid in leather bag 6 inside body 11 is flow back in the leather bag 6 in outer leather bag cabin 5.Pressure-resistant cabin side end cap 9 passes through sealing ring respectively
13 are mutually sealed with pressure-resistant cabin housing 11 and control cabinet pneumatic shell 18, prevent sea water from entering.Fill in external pressure table interface 22 and outside
The outside of QI KOU 23 is provided with and is sealingly mounted at the seal closure 30 on 11 other end of pressure-resistant cabin housing by screw 12 and sealing ring 13.
Leather bag 6 is provided with pressure-resistant cabin housing 11, leather bag 6 is provided with internal insulation spherical shell 10 in one end of pressure-resistant cabin side end cap 9, and this is interior
The profile of portion's isolation spherical shell 10 is spherical in shape, and the leather bag 6 in pressure-resistant cabin housing 11 can be attached to internal insulation spherical shell 10 when shrinking
Gabarit on, leather bag 6 is shielded；Meanwhile, the inside of internal insulation spherical shell 10 is additionally provided with one installed in pressure-resistant cabin side
Anti- jet baffle plate 28 on end cap 9, protects the leather bag 6 in pressure-resistant cabin housing 11 not impacted by high-voltage high-speed fluid.
Be respectively equipped with two position two-way valve 17 and electronic unit 19 in control cabinet pneumatic shell 18, two position two-way valve 17 respectively with outward
Leather bag cabin 5 is connected with the leather bag 6 in pressure-resistant cabin housing 11, and electronic unit 19 is connected with Autonomous Underwater aircraft 27, control two
The commutation of position two-port valve 17；The electronic unit 19 of the present invention is prior art.Screw thread company is had on control cabinet pneumatic shell 18
Oil-collecting hole throttling unit 3 and outlet block 14 screwed hole, and wherein the both sides of hydraulic fluid port throttling unit 3 are respectively by oil circuit and logical
Oil groove 29 and two position two-way valve 17 are connected, and by changing the hydraulic fluid port throttling unit 3 in different internal apertures, can be controlled in pre- depthkeeping
It is outside one's consideration the flow velocity of fluid in the leather bag 6 in leather bag cabin 5, reaches the controllable purpose of flow；In hydraulic fluid port throttling unit 3 and logical oil groove 29
Between oil circuit be provided with inserting check valve 20, the inserting check valve 20 control fluid can only flow to bi-bit bi-pass from logical oil groove 29
Valve 17.Outlet blocks 14 screwed hole being located by the oil circuit between oil circuit and hydraulic fluid port throttling unit 3 and inserting check valve 20
It is connected, as shown in fig. 6, when flowing back in fluid is by the leather bag 6 in the outside leather bag cabin 5 of the screwed hole, outlet is blocked head
14 take away, and are back to the leather bag 6 in outer leather bag cabin 5 by the first oil return bypass interface 24 and the second oil return bypass interface 25
In；Outlet is blocked in 14 screwed hole being located and is provided with spring and containment member, can play a part of check valve.Control cabinet is pressure
The oil-filled shell 8 of line outlet is sealed and installed with shell 18, and control cabinet pneumatic shell is inserted by the oil-filled shell 8 of the line outlet in one end of socket 16
In 18, the other end is located in the groove of the oil-filled shell 8 of line outlet, and by the line outlet end cap 7 at the top of the oil-filled shell 8 of line outlet
And 13 sealed envelope of sealing ring, prevent sea water from entering.Control cabinet pneumatic shell 18 is also interior to be provided with 11 inside gas of detection pressure-resistant cabin housing
The internal pressure table 26 of body pressure, can measure the gas pressure inside pressure-resistant cabin housing 11 in real time by internal pressure table 26, separately
The ambient temperature parameter of the outer measurement of combination Autonomous Underwater aircraft 27, can be calculated by gas compression law and obtain outer leather bag
The amount that fluid is flowed into pressure-resistant cabin housing 11 in leather bag 6 in cabin 5, so that can accurately obtain the entirety of Autonomous Underwater aircraft
Buoyancy reduction amount.
The present invention operation principle be：
As shown in fig. 6, when Autonomous Underwater aircraft is needed in the just subjob of unknown marine site desired depth, unidirectional two
Buoyancy regulating device is symmetrically fixed on the both sides of Autonomous Underwater aircraft 27 by the plate 2 that is connected；Leather bag in outer leather bag cabin 5
Fluid is filled in 6, without fluid in the leather bag 6 in pressure-resistant cabin housing 11.When 27 dive of Autonomous Underwater aircraft is to designated depth
Afterwards, the size by 27 revolution speed of propeller of Autonomous Underwater aircraft evaluates the heavy buoyant state of Autonomous Underwater aircraft 27, root
Buoyancy adjustment amount is given according to the heavy buoyant state.Then control two position two-way valve 17 by electronic unit 19 to control outer leather bag cabin
The break-make of path between leather bag 6 and pressure-resistant cabin housing 11 in 5.When two position two-way valve 17 is opened, path is opened, outer leather bag cabin
Fluid in 5 in leather bag 6 is flowed out by logical oil groove 29, successively through inserting check valve 20, hydraulic fluid port throttling unit 3, two position two-way valve 17
In the leather bag 6 entered in pressure-resistant cabin housing 11, in outer leather bag cabin 5,6 volume of leather bag diminishes, and buoyancy reduces.Meanwhile, by real-time
Internal pressure table 26 and Autonomous Underwater aircraft 27 temperature sensor value calculate buoyancy regulating device oil inlet quantity, work as arrival
After the regulated quantity of predetermined computation, just control two position two-way valve 17 is closed, and the buoyant state of sail body is just positively retained at predetermined state
Under.If desired flow back in leather bag 6 outwards in leather bag cabin 5, take away outlet and block 14, by external inflation mouth 23 to pressure-resistant cabin
Inflate in housing 11, while two position two-way valve 17 commutates, the fluid in pressure-resistant cabin housing 11 in leather bag 6 is successively through two position two-way valve
17th, hydraulic fluid port throttling unit 3, the first oil return bypass interface 24, the second oil return bypass interface 25 be back to the skin in outer leather bag cabin 5
In capsule 6.
The present invention be suitable for deep-sea Autonomous Underwater aircraft the big depth navigation detection process in unknown marine site buoyancy from
Dynamic regulation, it is to avoid the multiple trim repeatedly when deep-sea is navigated by water.The present invention need not consume the energy of aircraft itself in a large number, pass through
Change the volume theory of buoyancy regulating device adjusting the buoyancy of Autonomous Underwater aircraft, Autonomous Underwater is realized by air pressure principle
The measurement of aircraft buoyancy adjustment amount.The achievable aircraft of the present invention, particularly big latent depth aircraft sail are not required to individually
The function of trim.
Claims (9)
1. a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft, it is characterised in that：The unidirectional buoyancy adjustment dress
Put in Autonomous Underwater aircraft (27), including buoyancy material outer housing (1), outer leather bag cabin (5), leather bag (6), control cabinet is pressure
Shell (18), control valve, pressure-resistant cabin side end cap (9) and pressure-resistant cabin housing (11), wherein outer leather bag cabin (5), control cabinet pneumatic shell
(18), pressure-resistant cabin side end cap (9) is sequentially connected with pressure-resistant cabin housing (11), and is wrapped up by described buoyancy material outer housing (1), described
Leather bag (6) is respectively provided with outer leather bag cabin (5) and pressure-resistant cabin housing (11), on outer leather bag cabin (5), limbers (21) is provided with；Institute
Control valve is stated in the control cabinet pneumatic shell (18), respectively with outer leather bag cabin (5) and pressure-resistant cabin housing (11) in leather bag (6)
It is connected, the control valve controls the flow direction of oil between two leather bags (6) by described Autonomous Underwater aircraft (27)；Sea water leads to
Cross the limbers (21) to enter in outer leather bag cabin (5), the fluid in outer leather bag cabin (5) interior leather bag (6) flows to pressure
In leather bag (6) in cabin housing (11), the regulation of buoyancy is carried out by the change of leather bag (6) volume in outer leather bag cabin (5)；
The one end of outer leather bag cabin (5) is tightly connected with one end of control cabinet pneumatic shell (18), and limbers (21) open up
The other end in outer leather bag cabin (5)；It is provided with installed in control cabinet pneumatic shell (18) in leather bag (6) in outer leather bag cabin (5)
Outer oil bag outlet gland (15) of one end, are provided with logical oil groove (29) on outer oil bag outlet gland (15).
2. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：The buoyancy
Material outer housing (1) is arranged in Autonomous Underwater aircraft (27) by the plate that is connected (2), outer leather bag cabin (5) and pressure-resistant cabin housing
(11) connection ring (4) being connected with the plate that is connected (2) is cased with respectively.
3. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：The outer oil
Capsule outlet gland (15) is in spherical crown shape.
4. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：The control
The screwed hole that threaded connection hydraulic fluid port throttling unit (3) and outlet block head (14) is had on cabin pneumatic shell (18), wherein oil
The both sides of mouth throttling unit (3) are connected with logical oil groove (29) and the control valve by oil circuit respectively, are throttled in hydraulic fluid port
Oil circuit between unit (3) and logical oil groove (29) is provided with inserting check valve (20)；The outlet blocks the spiral shell that head (14) is located
Pit is connected by the oil circuit between oil circuit and hydraulic fluid port throttling unit (3) and inserting check valve (20), and fluid passes through the screw thread
In leather bag (6) in hole outside leather bag cabin (5), backflow, is provided with spring and containment member in the screwed hole.
5. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：The control
The oil-filled shell of line outlet (8) is sealed and installed with cabin pneumatic shell (18), and one end of socket (16) is inserted by the oil-filled shell of line outlet (8)
Enter in control cabinet pneumatic shell (18), the other end is located in the groove of the oil-filled shell of line outlet (8), and by being arranged on the oil-filled shell of line outlet
(8) line outlet end cap (7) sealed envelope at the top of.
6. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：Described pressure
One end of cabin housing (11) is connected with control cabinet pneumatic shell (18) by pressure-resistant cabin side end cap (9), and the other end has outside
It is provided with outside pressure gauge connection (22) and external inflation mouth (23), external pressure table interface (22) and external inflation mouth (23)
Seal closure (30) on pressure-resistant cabin housing (11) other end.
7. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1 or 6, it is characterised in that：Described
Leather bag (6) in pressure-resistant cabin housing (11) is provided with internal insulation spherical shell (10) in one end of pressure-resistant cabin side end cap (9), pressure
Leather bag (6) in cabin housing (11) is attached in the gabarit of internal insulation spherical shell (10) when shrinking.
8. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 7, it is characterised in that：The inside
Anti- jet baffle plate (28) on pressure-resistant cabin side end cap (9) are provided with inside isolation spherical shell (10).
9. the unidirectional buoyancy regulating device of Autonomous Underwater aircraft is used for as described in claim 1, it is characterised in that：The control
The internal pressure table (26) of detection pressure-resistant cabin housing (11) internal gas pressure is provided with cabin pneumatic shell (18).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310639466.1A CN104670444B (en) | 2013-11-30 | 2013-11-30 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
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| CN201310639466.1A CN104670444B (en) | 2013-11-30 | 2013-11-30 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
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| CN104670444B true CN104670444B (en) | 2017-03-15 |
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