CN116142432A - Emergency self-balancing device for underwater vehicle and underwater vehicle - Google Patents
Emergency self-balancing device for underwater vehicle and underwater vehicle Download PDFInfo
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- CN116142432A CN116142432A CN202211711234.8A CN202211711234A CN116142432A CN 116142432 A CN116142432 A CN 116142432A CN 202211711234 A CN202211711234 A CN 202211711234A CN 116142432 A CN116142432 A CN 116142432A
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- emergency
- underwater vehicle
- buoyancy adjusting
- buoyancy
- traction wire
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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
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pressure Vessels And Lids Thereof (AREA)
Abstract
The invention discloses an emergency self-balancing device for an underwater vehicle and the underwater vehicle, and belongs to the technical field of the underwater vehicle, wherein the emergency self-balancing device comprises a base frame, an electrode terminal, a first traction wire, an emergency buoyancy adjusting shell, an electromagnetic valve, a second traction wire and a counterweight body; the electrode terminal is arranged on the base frame; the first traction wire and the electrode terminal form a first current path; the emergency buoyancy adjusting shell is connected to the base frame through a first traction wire, and a buoyancy adjusting sealing cavity is formed in the emergency buoyancy adjusting shell; the electromagnetic valve is arranged on the emergency buoyancy adjusting shell, is communicated with the buoyancy adjusting sealing cavity and is connected with the non-bearing lead wire; the second traction wire and the electrode terminal form a second current path; the counterweight body is connected with the emergency buoyancy adjusting shell through a second traction wire. The device can enable the underwater vehicle to have the buoyancy autonomous emergency adjusting function, improve the maneuverability of the underwater vehicle and enable the underwater vehicle to have the buoyancy autonomous adjusting function.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to an emergency self-balancing device for an underwater vehicle and the underwater vehicle.
Background
Today, sea development is increasingly emphasized, and underwater vehicles are main equipment for sea development, and are increasingly emphasized in various fields, and play an important role in civil use and military use. The characteristics of strong endurance, long range and good maneuverability of the underwater vehicle make the underwater vehicle very suitable for measurement work of parameters such as life, chemistry, objects and the like, and make the underwater vehicle become one of the most commonly used underwater mobile observation platforms.
The current marine exploration field at home and abroad, the development of the underwater vehicle with the depth of 1500 meters is relatively mature, but the exploration depth and the exploration range can not effectively meet the scientific research demands. In recent years, some domestic scientific research institutions have started the development of large-depth underwater vehicles, for example, "a 7000-meter-class deep-water underwater glider" published in 2020, the application publication number of which is CN112124538A, the invention discloses a 7000-meter-class deep-water underwater glider which comprises a stern section soaking cabin section, a buoyancy adjusting cabin section, a posture adjusting cabin section, an antenna and the like, and the technology solves the requirements of large-depth and high-density marine hydrologic observation. However, at present, the deep-seated underwater glider adopts a single buoyancy adjusting device as a driving force, and has limited maneuverability, such as constant-depth navigation, short-time higher-speed cruising operation mode and the like, which cannot be completed. In addition, for a general underwater vehicle, after the underwater vehicle body enters an emergency mode due to manual misoperation, namely, an emergency heavy object is separated from the body, the underwater vehicle can float out of the water due to a large positive buoyancy state, the underwater vehicle cannot continue to submerge deep operation due to the fact that the buoyancy of the body is larger than gravity, the operation can be continued only after a worker 'salvages' the underwater vehicle, and if the underwater vehicle goes to a far-sea area for operation, obviously, a 'rescue' task can generate huge economic and time cost.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an emergency self-balancing device for an underwater vehicle and the underwater vehicle, which solve the problems of single buoyancy control and adjustment function, no function of emergency buoyancy balance adjustment, high operation and maintenance cost and the like of the existing underwater vehicle.
The invention is realized in such a way that an emergency self-balancing device for an underwater vehicle is characterized by comprising a base frame, an electrode terminal, a first traction wire, an emergency buoyancy adjusting shell, an electromagnetic valve, a second traction wire and a counterweight body; the electrode terminal is arranged on the base frame; the first traction wire and the two electrode terminals on the base frame form a first current path for fusing the first traction wire after being electrified; the emergency buoyancy adjusting shell is connected to the base frame through the first traction wire, and a buoyancy adjusting sealing cavity is formed in the emergency buoyancy adjusting shell; the electromagnetic valve is arranged on the emergency buoyancy adjusting shell, is communicated with the buoyancy adjusting sealing cavity and is connected with a non-bearing lead wire; the second traction wire forms a second current path for fusing the second traction wire after being electrified through the non-bearing wire and the two electrode terminals; the counterweight body is connected with the emergency buoyancy adjusting shell through the second traction wire.
In the above technical solution, preferably, the electrode terminal includes a first anode terminal, a second anode terminal, and a cathode terminal, and the first anode terminal, the first traction wire, and the cathode terminal are connected to form the first current path; the second anode terminal, the non-bearing wire, the second traction wire and the cathode terminal are connected to form the second current path.
In the above technical solution, preferably, the emergency buoyancy adjusting housing has a cylindrical structure, the interior of the emergency buoyancy adjusting housing forms a circular buoyancy adjusting seal cavity, a cylindrical central caulking groove with an opening at the lower end is formed at the inner side of the circular buoyancy adjusting seal cavity, and the counterweight body has a cylindrical structure assembled in the central caulking groove.
In the above technical solution, preferably, the electromagnetic valve is installed in the buoyancy adjusting seal cavity, and a side wall of the emergency buoyancy adjusting housing is provided with an orifice communicated with the electromagnetic valve.
In the above technical solution, preferably, a watertight cable connector is installed at an upper portion of the emergency buoyancy adjusting housing, and the non-bearing lead wire communicated with the electromagnetic valve is led out from the watertight cable connector to an outer side of the emergency buoyancy adjusting housing.
In the above technical solution, preferably, a sealing plug is installed at an upper portion of the emergency buoyancy adjusting housing.
In the above technical solution, preferably, the emergency buoyancy adjusting housing is provided with an air suction one-way valve, and the air suction one-way valve is used for forming vacuum in the buoyancy adjusting sealing cavity.
The invention has the advantages and effects that:
1. according to the self-balancing device for the large-depth underwater vehicle after the body is manually misoperation to enter the emergency mode, when an emergency heavy object of the underwater vehicle is separated from the body due to the manual misoperation, the underwater vehicle cannot work due to unbalanced heavy buoyancy.
2. When the self-balancing device is designed, the net weight of the heavy object is fully considered to be the same as the mass of the water inflow, and the gravity center of the water inflow and the gravity center of the heavy object are both on the geometric axis of the buoyancy adjusting sealing cavity, so that the water entering the buoyancy adjusting sealing cavity can replace the heavy object, and the underwater vehicle is restored to the balanced state again.
3. The emergency self-balancing device of the large-depth underwater vehicle has four working modes: a. the machine body enters an emergency mode for the first time, and the counterweight body is separated from the machine body; b. starting a self-balancing device to restore the operation capability of the machine body entering the emergency mode; c. the machine body enters an emergency mode again, and the self-balancing device is separated from the machine body; d. the machine body enters an emergency mode for the first time, the heavy objects are failed to separate from the machine body, and the self-balancing device is separated from the machine body; the device fully guarantees the safety of the underwater vehicle, and avoids the problem that the underwater vehicle cannot float upwards due to the failure of the heavy object to separate from the machine body.
Another object of the present invention is to provide an underwater vehicle, comprising a bow assembly, a midship pressure cabin assembly and a stern assembly connected in sequence, wherein the emergency self-balancing device as defined in the above is installed in the stern assembly.
In the above technical solution, preferably, the bow assembly is provided with a bow buoyancy compensation module, and the stern assembly is provided with a stern buoyancy compensation module. The buoyancy compensation modules at the bow and the tail are internally provided with compressible liquid, and the volume of the compressible liquid is reduced after the compressible liquid is compressed along with the increase of the submergence depth of the underwater vehicle, so that the buoyancy variation caused by the density variation of the seawater can be compensated, and the energy consumption of the underwater vehicle is further reduced.
Drawings
FIG. 1 is a schematic view of an emergency self-balancing apparatus according to the present invention;
FIG. 2 is a cross-sectional view of the emergency self-balancing apparatus of the present invention;
FIG. 3 is a schematic view of the structure of the underwater vehicle of the present invention;
FIG. 4 is a schematic view of the bow assembly of the present invention;
FIG. 5 is a schematic view of the structure of the midship pressure compartment assembly of the present invention;
FIG. 6 is a schematic view of the stern assembly of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides an emergency self-balancing device for an underwater vehicle and the underwater vehicle, which aim to solve the problems that the buoyancy control and adjustment function of the existing underwater vehicle is single, the buoyancy balance adjustment function is not needed to be adjusted in an emergency mode, the operation and maintenance cost is high, and the like. For further explanation of the structure of the present invention, the detailed description is as follows in connection with the accompanying drawings:
example 1
Referring to fig. 1 and 2, an emergency self-balancing device for an underwater vehicle includes a base frame, an electrode terminal, a first traction wire, an emergency buoyancy adjusting housing, an electromagnetic valve, a second traction wire, and a counterweight body.
The base frame comprises a supporting plate 4-1 and a fixing plate 4-2, wherein the supporting plate is a plastic plane plate body, the fixing plate is fixed on the supporting plate through screws, the fixing plate consists of a plastic upper fixing plate and a plastic lower fixing plate which are connected through screws, and the fixing plate is a connecting part loaded on an underwater vehicle.
The electrode terminal is arranged on the base frame. The electrode terminals include a first anode terminal 4-3, a second anode terminal 4-4, and a cathode terminal 4-5. In this embodiment, specifically, the first anode terminal, the second anode terminal, and the cathode terminal are fixed to the support plate of the base frame. The first anode terminal, the second anode terminal, and the cathode terminal are fixed to the support plate by self-formed screw-fitting.
The first traction wire 4-6 forms a first current path with the two electrode terminals on the base frame and the seawater. After the first current path is electrified, the first traction wire is electrolytically fused. In this embodiment, specifically, the first anode terminal, the first pull wire, the seawater, and the cathode terminal are connected to form a first current path. The first traction wire is a stainless steel wire, and two ends of the stainless steel wire are connected with the first anode terminal and the emergency buoyancy adjusting shell in a rope knot mode. After the first traction wire is electrified on the first current circuit, an electrolytic reaction occurs in seawater, and then the first traction wire is fused.
The emergency buoyancy adjusting housings 4-7 are connected to the base frame by first traction wires. Specifically, the upper part of the emergency buoyancy adjusting shell is fixed with an upper end plate 4-8 of plastic through a screw, and the lower end of the first traction wire is connected with the upper end plate in a rope knot mode. The interior of the emergency buoyancy adjusting shell is provided with a buoyancy adjusting a sealing cavity. In this embodiment, specifically, the emergent buoyancy regulation casing is cylindrical structure, and the inside of emergent buoyancy regulation casing constitutes annular buoyancy regulation seal chamber, and annular buoyancy regulation seal chamber inboard forms the columniform center caulking groove of lower extreme opening, takes shape through the welding by last casing and lower casing, and the weld neck is the two ring direction weld neck. The upper part of the emergency buoyancy adjusting shell is provided with a sealing plug 4-9. The sealing plug is screwed on the upper end part of the emergency buoyancy adjusting shell through threads, so that the tightness of the buoyancy adjusting sealing cavity is ensured.
The emergency buoyancy adjusting shell is provided with an air suction one-way valve 4-10 which is used for forming vacuum in the buoyancy adjusting sealing cavity. The air suction check valve is screwed on the air suction check valve through threads. The emergency buoyancy adjusting shell is used for acquiring the vacuum environment in the buoyancy adjusting sealing cavity.
The electromagnetic valves 4-11 are arranged on the emergency buoyancy adjusting shell, are communicated with the buoyancy adjusting sealing cavity and are connected with the non-bearing lead wires. In this embodiment, specifically, the solenoid valve is installed in the buoyancy adjustment seal chamber, and the lateral wall of emergent buoyancy adjustment casing is equipped with the drill way with solenoid valve intercommunication. The electromagnetic valve can work in vacuum water and normal pressure water, the valve port is opened when the electromagnetic valve is electrified, and the valve port is closed when the electromagnetic valve is disconnected. The upper part of the emergency buoyancy adjusting shell is provided with a watertight cable joint 4-12, and a non-bearing lead 4-13 communicated with the electromagnetic valve is led out from the watertight cable joint to the outer side of the emergency buoyancy adjusting shell. The watertight cable joint is screwed on the upper end part of the emergency buoyancy adjusting shell through threads, and tightness is guaranteed through an O-shaped sealing ring on the joint. The non-load carrying leads are the power and control lines for the solenoid valve. The non-bearing type wire is characterized in that the non-bearing type wire has a basic wire function and does not have traction capability, and after the first traction wire is melted, the non-bearing type wire can be broken under the action of gravity, so that the corresponding part is ensured to be separated.
The second traction wire 4-14 forms a second current path with the two electrode terminals and the sea water through the non-bearing wire 4-15, and after the second current path is electrified, the second traction wire generates electrolytic reaction in the sea water and then fuses. In this embodiment, specifically, the second anode terminal, the non-carrying wire, the second pull wire, and the cathode terminal are connected to form a second current path. I.e. the third anode terminal 4-16 is mounted on the upper end plate by means of threads, the third anode terminal being electrically connected to the second anode terminal by means of a non-load bearing wire, the second pull wire being connected to the third anode terminal.
The weight bodies 4-17 are connected to the emergency buoyancy adjusting housing by second traction wires. The counterweight is a cylindrical configuration fitted in a central caulking groove. The two ends of the second traction wire are respectively connected with the third anode terminal and the counterweight body in a rope knot mode.
In the device, the second traction wire can be fused by electrifying the second current path, and the counterweight body can be separated from the device; the electromagnetic valve works, so that the buoyancy adjusting seal cavity can be filled with water or vacuum, and the self weight of the device is changed; the first traction wire can be fused by electrifying the first current path, and the emergency buoyancy adjusting shell and the weight body which cannot be smoothly separated can be integrally separated. The three modes can realize the buoyancy compensation in various places of the underwater vehicle loaded with the device, so as to play a role in emergency self-balancing.
Example two
Referring to fig. 3, an underwater vehicle includes a bow assembly 1, a midship pressure cabin assembly 2 and a stern assembly 3 connected in sequence.
Referring to FIG. 4, the bow assembly includes a bow front shell 1-1, a bow buoyancy compensation module 1-2, a bow reinforcement ring 1-3, a bow rear shell 1-4, and a bow connector 1-5, wherein the bow front shell and the bow rear shell are ABS shells. The bow reinforcing ring fixedly connects the bow front shell with the bow rear shell through bolts uniformly distributed in the circumferential direction. The bow buoyancy compensation module is fastened on the annular reinforcing rib of the bow front shell through four circumferentially uniform distributed screws. The buoyancy compensation module of the bow is internally provided with silicone oil compressible liquid, and the module bag body is made of PE plastic. As the submergence depth increases, the volume of the compressible liquid becomes smaller after the compressible liquid is compressed, thereby compensating for the buoyancy variation caused by the sea water density variation. The bow connecting piece is connected with the front end of the pressure-resistant cabin body of the midship pressure-resistant cabin assembly through screw fastening and is used for connecting and fixing the carried sensor.
Referring to fig. 5, the midship pressure cabin assembly includes a pressure cabin body 2-1, a power module 2-2, a pitch attitude adjusting module 2-3, a control module 2-4, a buoyancy adjusting module 2-5, and a navigation and communication module 2-6. The pressure-resistant cabin body is a pressure-resistant structural member and provides a dry and normal-pressure working environment for the energy module, the control module and the like. The power supply module provides energy for the underwater vehicle, and the position of the center of gravity of the vehicle can be adjusted through position change, so that the pitching attitude of the vehicle can be adjusted. The pitching attitude adjusting module is an executing module for the position change of the power supply module. The control module controls the operation of the underwater vehicle and the information acquisition, processing and storage of the sensor. The buoyancy adjusting module can realize the floating and the submerging of the underwater vehicle by adjusting the buoyancy of the underwater vehicle, and can adjust the pitching attitude of the underwater vehicle. The navigation and communication module realizes the positioning of the underwater vehicle and the real-time information interaction with an operator through the sending and receiving of signals.
Referring to fig. 6, the stern assembly includes a stern front case 3-1 and a stern rear case 3-2, which are ABS cases. The emergency self-balancing device also comprises a connecting sheet 3-3, a circumferential reinforcing ring 3-4, a cross rudder module 3-5, a tail buoyancy compensation module 3-6, a propeller 3-7 and the emergency self-balancing device 4 in the first embodiment. The stern front shell and the stern rear shell are fastened and connected by annular screws through annular fixing rings. The connecting sheets are 4 pieces in total and are fixedly connected to the rear parts of the annular fixing ring and the pressure-resistant cabin body in a screw fastening mode. The cross rudder module achieves the purpose of controlling the pitching attitude and heading of the underwater vehicle by adjusting the swinging angles of the horizontal rudder and the vertical rudder.
The tail buoyancy compensation module is fixedly connected with the stern rear shell through circumferential screws and is used for compensating buoyancy variation caused by sea water density variation when the aircraft is submerged and floated. The propeller is arranged at the tail end of the stern assembly and is used for providing forward thrust for the underwater vehicle. The emergency self-balancing device is fastened at the rear part of the pressure-resistant cabin body through screws.
Submerging the underwater vehicle to a target depth: after the submerging mode is started, the control module sends a signal to control the gesture adjusting module to adjust the gesture, and then controls the buoyancy adjusting module to reduce the total buoyancy of the underwater vehicle, so that submerging is realized;
and (3) a constant-depth cruising process: when the underwater vehicle submerges to the target depth, the control module controls the carried sensor to measure and store signals, and simultaneously controls the attitude adjusting module and the cross rudder to ensure the navigation attitude and the heading, so that the underwater vehicle is always in the target depth range and is in a horizontal navigation state, and at the moment, the control module controls the propeller and the cross rudder to enable the underwater vehicle to perform constant-depth cruising operation;
and (3) floating process: when the fixed-depth detection cruising operation is completed, the control module sends a command to control the gesture adjusting module to adjust the gesture, and controls the buoyancy adjusting module to increase the total buoyancy of the underwater vehicle, so that the underwater vehicle floats upwards, and communicates with the roadbed master console after reaching the water surface.
The emergency self-balancing device has the working state I: the emergency self-balancing device enables the underwater vehicle after the emergency mode to be self-balanced due to manual misoperation, and the re-operation capability is restored.
After the underwater vehicle enters an emergency mode due to manual misoperation, the control module controls the power module to electrify the second anode terminal and the cathode terminal, at the moment, electrolytic fusing of the second traction wire can occur, after electrolytic fusing, the counterweight body is separated from the underwater vehicle body, the underwater vehicle can return to the water surface due to the fact that the counterweight body is in a positive buoyancy state, when workers confirm that the underwater vehicle meets the secondary operation condition, the control module controls the power module to electrify the electromagnetic valve through the non-bearing lead and the watertight cable connector, the valve port is opened, under the action of vacuum suction, water can be filled in the buoyancy adjusting sealing cavity, gravity of the injected water can be equivalent to replace gravity of emergency weights, the underwater vehicle can keep in a balanced state (the electromagnetic valve and the air suction one-way valve are not counted to slightly influence balance), and after the operators detect that the posture of the underwater vehicle is balanced, the power module can be powered off.
The working state of the emergency self-balancing device is two: when the balance weight body of the underwater vehicle fails to separate from the machine body due to faults, the emergency buoyancy adjusting shell provided with the balance weight body in the emergency self-balancing device is separated from the machine body, so that the safety of the underwater vehicle is ensured.
After the underwater vehicle enters an emergency mode, the control module controls the power supply module to electrify the second anode terminal and the cathode terminal, at the moment, the second traction wire is subjected to electrolytic fusing, after the electrolytic fusing, the counterweight body is separated from the underwater vehicle body, at the moment, the counterweight body is not separated from the body, the underwater vehicle is in a very dangerous state, if the situation occurs, an operator controls the power supply module to electrify the first anode terminal and the cathode terminal, at the moment, the first traction wire is subjected to electrolysis, under the action of gravity, the non-bearing wire and the non-bearing wire are sequentially pulled apart, at the moment, the emergency buoyancy adjusting shell, the inner parts of the emergency buoyancy adjusting shell, the counterweight body and the like are separated from the underwater vehicle body, and at the moment, the underwater vehicle can float out of the water under the action of positive buoyancy.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. An emergency self-balancing device for an underwater vehicle, comprising:
a base frame;
an electrode terminal provided on the base frame;
the first traction wire and the two electrode terminals on the base frame form a first current path which fuses the first traction wire after being electrified;
the emergency buoyancy adjusting shell is connected to the base frame through the first traction wire, and a buoyancy adjusting sealing cavity is formed in the emergency buoyancy adjusting shell;
the electromagnetic valve is arranged on the emergency buoyancy adjusting shell, is communicated with the buoyancy adjusting sealing cavity and is connected with a non-bearing lead wire;
the second traction wire forms a second current path for fusing the second traction wire after being electrified with the two electrode terminals through the non-bearing wire;
the counterweight body is connected with the emergency buoyancy adjusting shell through the second traction wire.
2. The emergency self-balancing apparatus for an underwater vehicle according to claim 1, wherein the electrode terminal includes a first anode terminal, a second anode terminal, and a cathode terminal, the first anode terminal, the first pull wire, and the cathode terminal being connected to constitute the first current path; the second anode terminal, the non-bearing wire, the second traction wire and the cathode terminal are connected to form the second current path.
3. The emergency self-balancing apparatus for an underwater vehicle according to claim 2, wherein the emergency buoyancy adjusting housing has a cylindrical configuration, the inside of the emergency buoyancy adjusting housing forms the buoyancy adjusting seal chamber in a circular ring shape, a cylindrical center caulking groove having an open lower end is formed inside the buoyancy adjusting seal chamber in a circular ring shape, and the weight body has a cylindrical configuration fitted in the center caulking groove.
4. The emergency self-balancing device for an underwater vehicle according to claim 2, wherein the solenoid valve is installed in the buoyancy adjusting seal chamber, and a side wall of the emergency buoyancy adjusting housing is provided with an orifice communicating with the solenoid valve.
5. The emergency self-balancing device for an underwater vehicle according to claim 4, wherein a watertight cable connector is installed at an upper portion of the emergency buoyancy adjusting housing, and the non-load-bearing lead wire communicated with the electromagnetic valve is led out from the watertight cable connector to an outside of the emergency buoyancy adjusting housing.
6. The emergency self-balancing apparatus for an underwater vehicle according to claim 5, wherein a sealing plug is installed at an upper portion of the emergency buoyancy adjusting housing.
7. The emergency self-balancing apparatus for an underwater vehicle according to claim 6, wherein the emergency buoyancy adjusting housing is provided with a suction check valve for forming a vacuum in the buoyancy adjusting seal chamber.
8. An underwater vehicle comprising a bow assembly, a midship pressure cabin assembly and a stern assembly which are connected in sequence, wherein the stern assembly is provided with an emergency self-balancing device according to any one of claims 1 to 7.
9. The underwater vehicle of claim 8, wherein: the bow assembly is provided with a bow buoyancy compensation module, and the stern assembly is provided with a tail buoyancy compensation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711234.8A CN116142432A (en) | 2022-12-29 | 2022-12-29 | Emergency self-balancing device for underwater vehicle and underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211711234.8A CN116142432A (en) | 2022-12-29 | 2022-12-29 | Emergency self-balancing device for underwater vehicle and underwater vehicle |
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| Publication Number | Publication Date |
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| CN116142432A true CN116142432A (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211711234.8A Pending CN116142432A (en) | 2022-12-29 | 2022-12-29 | Emergency self-balancing device for underwater vehicle and underwater vehicle |
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| Country | Link |
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| CN (1) | CN116142432A (en) |
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