CN110667810B - Buoyancy adjusting device of underwater glider - Google Patents
Buoyancy adjusting device of underwater glider Download PDFInfo
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- CN110667810B CN110667810B CN201910963906.6A CN201910963906A CN110667810B CN 110667810 B CN110667810 B CN 110667810B CN 201910963906 A CN201910963906 A CN 201910963906A CN 110667810 B CN110667810 B CN 110667810B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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Abstract
The invention relates to a buoyancy regulating device of an underwater glider, which consists of a hydraulic cylinder cabin section and an oil way block cabin section, wherein a hydraulic system has three different working modes under different conditions. Through the control of a hydraulic system, the movement of the piston main body of the hydraulic cylinder cabin section is driven, the water discharge volume is controlled, and the buoyancy adjustment is realized; the hydraulic cylinder and the oil tank are collected in the hydraulic cylinder cabin section, the structure is compact, and the installation space is saved.
Description
Technical Field
The invention belongs to the technical field of navigation, and relates to a buoyancy regulating device, in particular to an underwater glider buoyancy regulating device with compact installation space.
Background
The underwater glider is a novel underwater robot, submerges and floats by adjusting the buoyancy of the underwater glider, does not need to be additionally provided with other power devices, saves energy, has lower manufacturing cost and longer endurance time, and has wide application scenes in the aspects of marine environment monitoring and submarine resource exploration.
With the deep exploration of the ocean, the requirements on the underwater glider are higher and higher, and higher cruising ability and deeper diving depth are required. The buoyancy regulating system is a main power component of the glider, the energy consumption proportion is high, and the cruising ability can be improved by reasonably reducing the energy consumption of the buoyancy regulating system.
At present, the sinking and floating processes of a plurality of existing underwater gliders all depend on the work of a hydraulic pump of a hydraulic system, the hydraulic pump continuously works in the whole process, a large part of energy consumption is occupied, and the cruising ability of the aircraft is not favorably improved.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides the buoyancy adjusting device of the underwater glider, which occupies a small installation space, can be adjusted by using water pressure when the buoyancy is adjusted, and saves the energy consumption of a buoyancy adjusting system.
Technical scheme
A buoyancy adjusting device of an underwater glider is characterized by comprising a hydraulic cylinder cabin section and an oil path block cabin section, wherein the hydraulic cylinder cabin section comprises a hydraulic cylinder outer barrel, a water immersion cavity, a left piston main body, a left oil cavity, a piston rod, an oil path block mounting barrel oil port, a right oil cavity and a right piston main body; the oil path block cabin section comprises an oil path block mounting cylinder, a side edge sealing cover, a two-position three-way electromagnetic valve, a two-position two-way electromagnetic valve I, an oil path block, a two-position two-way electromagnetic valve II, a touch switch, a gear pump, a laser ranging sensor, a one-way valve and a motor, wherein the two-position two-way electromagnetic valve, the two-position two-way electromagnetic valve I, the two-position two-way electromagnetic valve II, the gear pump, the one-way valve and the motor are mounted on; the laser ranging sensor is used for measuring the distance between the piston main body and the sensor and calculating the buoyancy force borne by the aircraft; the touch switch is used for limiting the limit position of the motion of the right piston main body, the motor is connected with the shaft of the gear pump through the coupler, and the rotation of the motor drives the gear pump to rotate; the side edge sealing cover is positioned on the oil path block mounting cylinder, and the two-position three-way electromagnetic valve, the two-position two-way electromagnetic valve I, the oil path block, the two-position two-way electromagnetic valve II, the touch switch, the gear pump, the laser ranging sensor, the one-way valve and the motor are positioned in the oil path block mounting cylinder; the oil port of the oil path block mounting cylinder is communicated with the oil port of the side sealing cover of the oil path block cabin section through a seamless steel pipe.
A floating adjustment method realized by a buoyancy adjustment device of an underwater glider is characterized in that: under the condition that the aircraft floats upwards, the opening and closing of a hydraulic valve of a hydraulic system are controlled, so that a left oil cavity is an oil inlet cavity, a right oil cavity is an oil outlet cavity, hydraulic oil flows to the left oil cavity from the right oil cavity, a left piston main body and a right piston main body move in the direction far away from an oil path block cabin section, the volume of a water immersion cavity is reduced, the water discharge volume is increased, the buoyancy of the aircraft is increased, and the aircraft floats upwards when the buoyancy of the aircraft is larger than the gravity; in the hydraulic circuit under the condition, the two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve I are powered off and are in a left state, the two-position two-way electromagnetic valve II is powered on and is in a right state, hydraulic oil in the circuit where the two-position two-way electromagnetic valve I is located cannot circulate, the hydraulic oil flows through the two-position two-way electromagnetic valve II from a right oil cavity through the seamless steel pipe and flows into an oil inlet of the gear pump, and the hydraulic oil flows out of an oil outlet of the gear pump, flows through the check valve and the two-position three-.
A sinking adjusting method realized by a buoyancy adjusting device of an underwater glider is characterized by comprising the following steps: when the aircraft sinks and the gear pump works, the opening and closing of a hydraulic valve of a hydraulic system are controlled, so that a left oil cavity is an oil outlet cavity, a right oil cavity is an oil inlet cavity, hydraulic oil flows from the left oil cavity to the right oil cavity, a left piston main body and a right piston main body move towards the direction close to the cabin section of the oil path block, the volume of a water immersion cavity is increased, the water discharge volume is reduced, the buoyancy of the aircraft is reduced, and when the gravity of the aircraft is greater than the buoyancy, the aircraft sinks; in the hydraulic circuit under the condition, the two-position three-way electromagnetic valve and the two-position two-way electromagnetic valve I are electrified and are in a right position state, the two-position two-way electromagnetic valve II is powered off and is in a left position state, hydraulic oil in the circuit where the two-position two-way electromagnetic valve II is located cannot circulate, the hydraulic oil flows through the two-position three-way electromagnetic valve from a left oil cavity through the seamless steel pipe and flows into an oil inlet of the gear pump, and the hydraulic oil flows out of an oil outlet of the gear pump, flows through the check valve and the two-position two.
Advantageous effects
The invention provides a buoyancy adjusting device of an underwater glider, which has the following beneficial effects:
1. the hydraulic cylinder and the oil tank are collected in the cabin section of the hydraulic cylinder, under different conditions, one oil cavity, the piston main body and the piston rod realize the function of the hydraulic cylinder, the other oil cavity realizes the function of the oil tank, the moving mode of the piston main body is switched, and the functions of the two oil cavities are also switched accordingly.
2. The buoyancy adjusting device of the underwater glider fully utilizes the pressing effect of the pressure of underwater water on the left piston main body, and can completely drive the piston main body to synchronously move under the pressure effect of water pressure on the left piston main body at a certain depth without being driven by a motor, so that the effect of saving energy consumption is achieved.
3. According to the buoyancy adjusting device for the underwater glider, in the moving process of the piston main body, the piston main body on the same side of the oil outlet cavity can apply certain pressure to hydraulic oil, and the problem that the oil absorption capacity of the gear pump is insufficient is solved.
4. According to the buoyancy adjusting device of the underwater glider, the displacement of the piston is measured by using the laser ranging sensor, so that the volume of oil sucked and discharged by the oil cavity is measured, the measuring method is high in accuracy, and the buoyancy of the underwater glider can be accurately adjusted.
Drawings
FIG. 1 is a perspective view of the overall structure of the buoyancy adjustment device of an underwater glider of the present invention;
FIG. 2 is a sectional view of a hydraulic cylinder cabin section of the buoyancy adjusting device of the underwater glider of the present invention;
FIG. 3 is a schematic perspective view of an oil path block bay structure of the buoyancy adjusting device of an underwater glider of the present invention;
FIG. 4 is a schematic perspective view of an oil path block bay structure of the buoyancy adjusting device of an underwater glider of the present invention;
FIG. 5 is a schematic diagram showing in detail the internal oil passages of the underwater glider block and the direction of hydraulic oil flow during the ascent of the glider according to the present invention;
FIG. 6 is a hydraulic circuit diagram showing in detail the present invention underwater glider during ascent;
FIG. 7 is a schematic diagram showing in detail the internal oil passages of the underwater glider block and the direction of hydraulic oil flow when the gear pump is operating during the descent of the glider in accordance with the present invention;
FIG. 8 is a hydraulic circuit diagram showing in detail the operation of the hydraulic pump during the sinking of the underwater glider according to the present invention;
FIG. 9 is a schematic diagram showing in detail the internal oil passages of the underwater glider block and the direction of hydraulic oil flow when the gear pump is not operating during the descent of the glider in accordance with the present invention;
FIG. 10 is a hydraulic circuit diagram showing in detail the hydraulic pump of the present invention during the descent when the hydraulic pump is not operating;
description of reference numerals:
8-a left oil chamber; 11-a right oil chamber; 15-two-position three-way electromagnetic valve; 16-two-position two-way solenoid valve I; 18-two-position two-way electromagnetic valve II; 20-gear pump; 22-one-way valve.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the utility model provides an underwater glider buoyancy adjusting device, comprises two cabin sections of pneumatic cylinder cabin section and oil circuit piece cabin section at least, its characterized in that: the hydraulic cylinder cabin section at least comprises a hydraulic cylinder outer cylinder, a left piston main body, a right piston main body, a piston rod, a left oil cavity and a right oil cavity, wherein the hydraulic cylinder outer cylinder is a revolving body, the left piston main body and the right piston main body are also revolving bodies and are arranged in the hydraulic cylinder outer cylinder cabin body and tightly attached to the inner wall of the hydraulic cylinder outer cylinder;
the oil way block cabin section at least comprises an oil way block mounting cylinder, an oil way block, a motor, a gear pump, an electromagnetic valve, a one-way valve, a sensor and a touch switch, wherein the oil way block mounting cylinder is connected with the outer cylinder of the hydraulic cylinder;
the oil path block is internally provided with an oil path, and the conduction and the closing of different oil paths are controlled through an electromagnetic valve and a one-way valve to control the movement of the piston main body in different directions.
As shown in fig. 1, 2, 3 and 4, the buoyancy adjusting device of the underwater glider comprises a hydraulic cylinder cabin section 1 and an oil path block cabin section 2, a seamless steel pipe 3 is connected with oil ports of the two cabin sections, and a hydraulic system controls the inflow and outflow of hydraulic oil, so that the movement of a piston main body of the hydraulic cylinder cabin section is controlled, the effect of controlling the volume of water to be drained is achieved, and the buoyancy adjustment of the underwater glider is realized.
As shown in fig. 5, 6, 7, 8, 9 and 10, the hydraulic system has three different working conditions under different conditions, and the following hydraulic circuit diagram and hydraulic oil flow direction diagram inside the oil circuit block correspond to the three different working conditions respectively.
The hydraulic cylinder cabin section at least comprises a hydraulic cylinder outer cylinder 5, a water immersion cavity 6, a left piston main body 7, a left oil cavity 8, a piston rod 9, an oil way block mounting cylinder oil port 10, a right oil cavity 11 and a right piston main body 12, wherein the hydraulic cylinder outer cylinder 5 is a rotary body, one end of the hydraulic cylinder outer cylinder is connected with the oil way block mounting cylinder 4 of the oil way block cabin section 2, the left piston main body 7 and the right piston main body 12 are mounted at two ends of the piston rod 9 to realize synchronous movement of the two piston main bodies, the left piston main body 7 divides the left half part of the hydraulic cylinder cabin section 1 into the water immersion cavity 6 and the left oil cavity 8, the water immersion cavity 6 is communicated with water, the left oil cavity 8 is full of hydraulic oil, a hydraulic system controls inflow and outflow of the hydraulic oil under different conditions, so that the movement of the two piston main bodies mounted on the piston rod 9 can be driven, the piston main bodies move, and, the buoyancy force borne by the aircraft is changed, an oil port 10 is formed in the outer cylinder of the hydraulic cylinder and is respectively communicated with a left oil cavity 8 and a right oil cavity 11, the oil port 10 is communicated with an oil port 13 of a side sealing cover 14 through a seamless steel pipe 3, and the hydraulic system controls the hydraulic oil in the two oil cavities to flow in and out under different conditions so as to drive the piston main body to move.
The oil path block cabin section at least comprises an oil path block mounting cylinder 4, a side edge sealing cover 14, a two-position three-way electromagnetic valve 15, a two-position two-way electromagnetic valve I16, an oil path block 17, a two-position two-way electromagnetic valve II 18, a touch switch 19, a gear pump 20, a laser ranging sensor 21, a check valve 22 and a motor 23, as shown in figures 5, 7 and 9, an oil path is formed inside the oil path block 14 and is communicated with an oil port of a hydraulic element, the two-position two-way electromagnetic valve 15, the two-position two-way electromagnetic valve I16, the two-position two-way electromagnetic valve II 18, the gear pump 20, the check valve 22 and the motor 23 are mounted at a designated position of the oil path block 17, the specific mounting positions of the two-position two-way electromagnetic valve 15, the two-position two-way electromagnetic valve I16, the two-position two-way electromagnetic valve II 18, the gear pump 20, the check valve 22 and the, the side sealing cover 14 is installed on the oil circuit block installation barrel 4, the touch switch 19 is used for limiting the limit position of the movement of the right piston main body, the piston main body moves to the limit position and touches the touch switch, the motor stops moving, the piston main body does not move any more, the whole mechanical structure is protected, the laser ranging sensor 21 is used for measuring the distance between the piston main body and the sensor and calculating the buoyancy force borne by the aircraft, the motor 23 is connected with the shaft of the gear pump 20 through a coupler, the rotation of the motor drives the gear pump to rotate, the hydraulic system of the aircraft is formed by the whole oil circuit block cabin, the hydraulic system is a power system of the aircraft and is used for adjusting the buoyancy force of the aircraft.
The working process is as follows:
under the condition that the aircraft floats upwards, the motor drives the gear pump to rotate by controlling the opening and closing of a hydraulic valve of a hydraulic system, so that a left oil cavity is an oil inlet cavity, a right oil cavity is an oil outlet cavity, hydraulic oil flows to the left oil cavity from the right oil cavity, the piston main body moves towards the direction far away from the cabin section of the oil way block, the volume of a water immersion cavity is reduced, the drainage volume is increased, the buoyancy of the aircraft is increased, in the whole buoyancy adjusting process, the limit switch is used for limiting the movement limit position of the piston main body, and when the buoyancy of the aircraft is larger than the gravity, the aircraft floats upwards; in this case, the electromagnetic valve 15 and the electromagnetic valve 16 are powered off and are in a left state, the electromagnetic valve 18 is powered on and is in a right state, hydraulic oil in the circuit in which the electromagnetic valve 16 is located cannot flow, the arrow direction shown in the figure is the hydraulic oil flow direction, the hydraulic oil flows through the electromagnetic valve 18 from the right oil chamber 11 through the seamless steel pipe and flows into the oil inlet of the gear pump 20, and the hydraulic oil flows out of the oil outlet of the gear pump 20, flows through the check valve 22 and the electromagnetic valve 15, and finally flows to the left oil chamber 8 through the seamless steel pipe.
When the aircraft sinks and the gear pump works, the opening and closing of a hydraulic valve of a hydraulic system are controlled, the motor reversely rotates to drive the gear pump to rotate, so that a left oil cavity becomes an oil outlet cavity, a right oil cavity becomes an oil inlet cavity, hydraulic oil flows from the left oil cavity to the right oil cavity, the piston main body moves towards the direction close to the cabin section of the oil path block, the volume of a water immersion cavity is increased, the water discharge volume is reduced, the buoyancy of the aircraft is reduced, in the whole buoyancy adjusting process, the limit switch is used for limiting the movement limit position of the piston main body, and when the gravity of the aircraft is larger than the buoyancy, the; in this case, in the hydraulic circuit, the electromagnetic valve 15 and the electromagnetic valve 16 are both in the right position state, the electromagnetic valve 18 is powered off, and in the left position state, the hydraulic oil in the circuit in which the electromagnetic valve 18 is located cannot flow, the arrow direction shown in the figure is the hydraulic oil flow direction, the hydraulic oil flows from the left oil chamber 8 through the seamless steel pipe, flows through the electromagnetic valve 15, flows into the oil inlet of the gear pump 20, flows out of the oil outlet of the gear pump 20, flows through the check valve 22 and the electromagnetic valve 16, and finally flows to the right oil chamber 11 through the seamless steel pipe.
When the aircraft sinks to a certain depth and the gear pump does not work, because the water immersion cavity is communicated with water, the water pressure has certain pressure on the left piston main body, when the pressure reaches a certain value, at the moment, the gear pump does not need to be driven by a motor to rotate, the piston main body can be pushed to move towards the direction close to the oil circuit block cabin section by means of the pressure of the water, the aircraft can sink continuously, the sinking speed is higher as the depth is larger, and the energy consumption is reduced The solenoid valve 18 finally flows to the right oil chamber 11 through the seamless steel pipe.
When a hydraulic system operates, the sinking and floating speeds of the aircraft depend on the amount of water in the immersion cavity, the position of the piston main body is detected by using a laser ranging sensor, the volume of the water in the immersion cavity is calculated, the buoyancy borne by the aircraft can be calculated, and if the sinking or floating speed is accelerated or slowed down, the piston main body only needs to be driven to move, and the volume of the water in the immersion cavity is changed; meanwhile, if the buoyancy with the designated size is required to be adjusted, the distance between the laser ranging sensor and the piston main body can be set through a software system, when the piston main body moves to the designated position, the motor stops rotating, hydraulic oil does not flow, the buoyancy of the aircraft is not changed, and the buoyancy at the moment is the set buoyancy. Through the process, the sinking and floating control of the aircraft and the sinking and floating speed control are realized, in the moving process of the piston main body, the oil outlet cavity piston main body can apply certain pressure on hydraulic oil in the oil outlet cavity when moving, the defect of oil absorption capacity of the gear pump can be overcome, and the whole hydraulic system can work more stably and reliably.
Claims (3)
1. A buoyancy adjusting device of an underwater glider is characterized by comprising a hydraulic cylinder cabin section (1) and an oil way block cabin section (2), wherein the hydraulic cylinder cabin section (1) comprises a hydraulic cylinder outer cylinder (5), a water immersion cavity (6), a left piston main body (7), a left oil cavity (8), a piston rod (9), an oil way block mounting cylinder oil port (10), a right oil cavity (11) and a right piston main body (12), the hydraulic cylinder outer cylinder (5) is a revolving body, the left piston main body (7) and the right piston main body (12) are mounted at two ends of the piston rod (9) to realize synchronous movement of the two piston main bodies, the left piston main body (7) divides the left half part of the hydraulic cylinder cabin section (1) into the water immersion cavity (6) and the left oil cavity (8), the water immersion cavity (6) is communicated with seawater, the oil cavity is filled with water, the left oil cavity (8) is filled with hydraulic oil, the hydraulic cylinder outer cylinder (5) is provided with the oil way block, an oil port (10) of the oil path block mounting cylinder is respectively communicated with a left oil cavity (8) and a right oil cavity (11), and the inflow and the outflow of hydraulic oil in the two oil cavities are controlled by a hydraulic system to drive the piston main body to move; the oil path block cabin section (2) comprises an oil path block mounting cylinder (4), a side edge sealing cover (14), a two-position three-way electromagnetic valve (15), a two-position two-way electromagnetic valve I (16), an oil path block (17), a two-position two-way electromagnetic valve II (18), a touch switch (19), a gear pump (20), a laser ranging sensor (21), a one-way valve (22) and a motor (23), wherein the two-position three-way electromagnetic valve (15), the two-position two-way electromagnetic valve I (16), the two-position two-way electromagnetic valve II (18), the gear pump (20), the one-way valve (22) and the motor (23) are mounted on the oil path; the laser ranging sensor (21) is used for measuring the distance between the piston main body and the sensor and calculating the buoyancy force borne by the aircraft; the touch switch (19) is used for limiting the movement limit position of the right piston main body (12), the motor (23) is connected with the shaft of the gear pump (20) through a coupler, and the rotation of the motor (23) drives the gear pump (20) to rotate; the side edge sealing cover (14) is positioned on the oil path block mounting cylinder (4), and the two-position three-way electromagnetic valve (15), the two-position two-way electromagnetic valve I (16), the oil path block (17), the two-position two-way electromagnetic valve II (18), the touch switch (19), the gear pump (20), the laser ranging sensor (21), the one-way valve (22) and the motor (23) are positioned in the oil path block mounting cylinder (4); an oil port (10) of the oil way block mounting cylinder is communicated with an oil port (13) of a side sealing cover of the oil way block cabin section (2) through a seamless steel pipe (3).
2. A floating height adjusting method implemented by the underwater glider buoyancy adjusting device according to claim 1, characterized in that: under the condition that the aircraft floats upwards, the opening and closing of a hydraulic valve of a hydraulic system are controlled, so that a left oil cavity (8) becomes an oil inlet cavity, a right oil cavity (11) becomes an oil outlet cavity, hydraulic oil flows to the left oil cavity (8) from the right oil cavity (11), a left piston main body (7) and a right piston main body (12) move towards the direction far away from an oil path block cabin section (2), the volume of a water immersion cavity (6) is reduced, the drainage volume is increased, the buoyancy of the aircraft is increased, and the aircraft floats upwards when the buoyancy of the aircraft is larger than the gravity; the hydraulic circuit under the condition, two-position three-way solenoid valve (15), two-position two-way solenoid valve I (16) outage, all be in left position state, two-position two-way solenoid valve II (18) are electrified, be in right position state, the unable circulation of return circuit hydraulic oil that two-position two-way solenoid valve I (16) are located, hydraulic oil flows through two-position two-way solenoid valve II (18) through seamless steel pipe (3) from right oil pocket (11), flow in the oil inlet of gear pump (20), hydraulic oil flows out from the oil-out of gear pump (20), flow through check valve (22), two-position three-way solenoid valve (15), finally flow to left oil pocket (8) through seamless steel pipe (3).
3. A submergence adjusting method implemented by the underwater glider buoyancy adjusting device according to claim 1, characterized in that: under the condition that the aircraft sinks and the gear pump works, opening and closing of a hydraulic valve of a hydraulic system are controlled, so that a left oil cavity (8) becomes an oil outlet cavity, a right oil cavity (11) becomes an oil inlet cavity, hydraulic oil flows to the right oil cavity (11) from the left oil cavity (8), a left piston main body (7) and a right piston main body (12) move towards the direction close to an oil path block cabin section (2), the volume of a water immersion cavity is increased, the drainage volume is reduced, the buoyancy of the aircraft is reduced, and when the gravity of the aircraft is larger than the buoyancy, the aircraft sinks; the hydraulic circuit under the condition, two-position three-way solenoid valve (15) and two-position two-way solenoid valve I (16) circular telegram, all be in right position state, two-position two-way solenoid valve II (18) outage, be in left position state, the unable circulation of return circuit hydraulic oil at two-position two-way solenoid valve II (18) place, hydraulic oil flows through two-position three-way solenoid valve (15) through seamless steel pipe (3) from left oil pocket (8), flow in the oil inlet of gear pump (20), hydraulic oil flows out from the oil-out of gear pump (20), flow through check valve (22), two-position two-way solenoid valve I (16), finally flow to right oil pocket (11) through seamless steel pipe (3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910963906.6A CN110667810B (en) | 2019-10-11 | 2019-10-11 | Buoyancy adjusting device of underwater glider |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910963906.6A CN110667810B (en) | 2019-10-11 | 2019-10-11 | Buoyancy adjusting device of underwater glider |
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| CN110667810B true CN110667810B (en) | 2021-04-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjusting device of underwater robot |
| CN112937815B (en) * | 2021-02-03 | 2022-03-18 | 武汉理工大学 | Device for enabling underwater vehicle to freely change attitude |
| CN112937816A (en) * | 2021-02-06 | 2021-06-11 | 西北工业大学 | Hydraulic control system of buoyancy adjusting device of underwater vehicle |
| CN115214863B (en) * | 2022-08-24 | 2023-08-22 | 青岛海洋科技中心 | Buoyancy driving system, buoyancy adjusting method and power generation method of underwater glider |
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| GB2536284A (en) * | 2015-03-13 | 2016-09-14 | Bae Systems Plc | Hydraulic system |
| EP3067252A1 (en) * | 2015-03-13 | 2016-09-14 | BAE Systems PLC | Hydraulic system |
| CN205707252U (en) * | 2016-04-20 | 2016-11-23 | 西北工业大学 | A kind of small-scale underwater vehicle device sink-float device |
| CN109334926B (en) * | 2018-10-17 | 2019-08-13 | 华中科技大学 | A kind of buoyancy regulating system and method for Quan Haishen underwater glider |
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