CN118004392A - Buoyancy adjusting device suitable for submersible and implementation method - Google Patents
Buoyancy adjusting device suitable for submersible and implementation method Download PDFInfo
- Publication number
- CN118004392A CN118004392A CN202410417217.6A CN202410417217A CN118004392A CN 118004392 A CN118004392 A CN 118004392A CN 202410417217 A CN202410417217 A CN 202410417217A CN 118004392 A CN118004392 A CN 118004392A
- Authority
- CN
- China
- Prior art keywords
- submersible
- buoyancy
- floating ball
- end wall
- connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 88
- 238000007667 floating Methods 0.000 claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 239000007788 liquid Substances 0.000 claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000009189 diving Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000000630 rising effect Effects 0.000 abstract 2
- 230000003028 elevating effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 28
- 239000007769 metal material Substances 0.000 description 18
- 238000005516 engineering process Methods 0.000 description 7
- 230000001681 protective effect Effects 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 238000005056 compaction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
Landscapes
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a buoyancy adjusting device and an implementation method suitable for a submersible, which belong to the technical field of the submersible and comprise a submersible, a buoyancy adjusting mechanism, an auxiliary lifting mechanism and the like, wherein the buoyancy adjusting mechanism comprises a floating ball and a flow guiding frame, a liquid level sensor is arranged in the floating ball, the input end of the flow guiding frame is connected with the output end of a one-way electromagnetic valve through a connecting pipe, and the input end of the one-way electromagnetic valve is connected with the output end of a water inlet one-way valve through a connecting pipe; the buoyancy of the submersible can be regulated through the buoyancy regulating mechanism, the measurement of the buoyancy can be realized, the efficiency of regulating and measuring is high, the accuracy is good, and the quick and high-efficiency of buoyancy regulating and measuring is ensured; and realize the auxiliary lift to the submersible through auxiliary elevating system, with buoyancy adjustment mechanism cooperation motion for submergence and rising are more rapid, have shortened submergence and rising time, effectively improve the submersible buoyancy adjustment efficiency.
Description
Technical Field
The invention belongs to the technical field of diving equipment, and particularly relates to a buoyancy adjusting device suitable for a diving equipment and an implementation method.
Background
The submersible is a mobile device with Underwater observation and operation capability, and can be divided into a remote-controlled submersible (Remotely Operated Vehicle, ROV), an autonomous submersible (Autonomous Underwater Vehicle, AUV), a manned submersible (Human Occupied Vehicle, HOV, and a submersible Robot (Underwater Robot) according to the functions of the submersible.
The buoyancy adjusting technology of the current submersible mainly comprises the following steps: an air bag type buoyancy adjusting technology, a liquid buoyancy adjusting technology, a deformation structure type buoyancy adjusting technology, a weight balance type buoyancy adjusting technology and the like. These techniques have advantages and disadvantages, for example, the airbag type buoyancy adjustment technique has advantages of simplicity, easiness and low cost, but is also limited by the size and capacity of the airbag, resulting in limited buoyancy adjustment range; the liquid buoyancy regulating technology has the advantages of accurate regulation and wide regulation range, but also has the defects of complex equipment composition and higher requirement on environment; the weight balance type buoyancy adjusting technology has the advantages of simple principle and no need of additional energy or medium, but also has the defects of larger buoyancy adjusting range, low buoyancy adjusting speed and the like. The invention patent with the application publication number of CN110979601A discloses a buoyancy and attitude adjusting integrated system of a manned submersible, which comprises the manned submersible, a ballast tank unit, a main pumping assembly, an external circulation switch valve, a first switch valve and the like, but the buoyancy adjusting device of the current submersible can only adjust the buoyancy, the buoyancy adjustment is slow, the buoyancy cannot be measured, and in addition, the lifting speed is slow only by virtue of the buoyancy adjusting device.
Disclosure of Invention
Aiming at the defects of relatively slow lifting and lowering of the buoyancy adjusting device of the submersible in the prior art, the invention provides the buoyancy adjusting device and the realizing method suitable for the submersible, and the buoyancy is adjusted according to the change of the liquid level in the floating ball, so that the buoyancy adjusting efficiency is effectively improved.
The invention is realized by adopting the following technical scheme: a buoyancy adjusting device and an implementation method suitable for a submersible comprise the submersible and a buoyancy adjusting mechanism arranged on the submersible;
The buoyancy adjusting mechanism comprises a diversion frame fixedly installed on the bottom wall of the submersible, the input end of the diversion frame is connected with the output end of a one-way electromagnetic valve through a connecting pipe, the input end of the one-way electromagnetic valve is connected with the output end of a water inlet one-way valve through a connecting pipe, one output end of the diversion frame is connected with a water discharge one-way valve, the output end of the water discharge one-way valve is connected with the input end of a water pump through a connecting pipe, the water pump is fixedly installed on the bottom wall of the submersible through a water pump installation frame, the output end of the water pump is connected with the input end of a drain valve through a connecting pipe, the water pump is connected with a motor through a main shaft, the other two output ends of the diversion frame are connected with the input end of a three-way valve through connecting pipes, one side end fixedly connected with a fixed pipe far away from the three-way valve is connected with a threaded pipe in a rotating way, the threaded pipe is connected with the two side ends of a floating ball, and a liquid level sensor is connected in the floating ball.
Further, two groups of auxiliary lifting mechanisms are arranged on the submersible and comprise fixing plates symmetrically and fixedly connected with the end walls of the submersible, gear shafts are rotationally connected at four corners among the fixing plates, lifting gears are fixedly connected with the tail ends of two sides of the gear shafts and meshed with annular racks, the annular racks are fixedly arranged on the inner walls of lifting annular guide rails, the lifting annular guide rails are rotationally arranged on the inner surfaces of the fixing plates, and electric rotating shafts are uniformly and equidistantly rotationally connected between the lifting annular guide rails; the outer surface fixed mounting of electronic pivot has the kinematic chamber, array fixed mounting has the electric putter on the kinematic chamber diapire, electric putter end fixedly connected with extension board, extension board sliding connection is between the kinematic chamber end wall, one of them fixed plate upside surface fixed connection has the upside vision sensor mounting panel, upside vision sensor mounting panel internal surface fixed connection has the upside vision sensor, fixedly connected with downside vision sensor mounting panel on the fixed plate diapire of upside vision sensor mounting panel downside, downside vision sensor mounting panel inboard surface fixed connection has downside vision sensor, downside vision sensor scans the kinematic plate of downside, downside vision sensor and electric pivot, electric putter signal connection, upside vision sensor scans the kinematic plate of upside, gear shaft and elevator motor power connection, elevator motor fixed mounting is on the fixed plate end wall, be close to the kinematic plate of dive one side and be in vertical position, the kinematic plate of dive one side is in horizontal position.
Further, be equipped with fixture on the submersible end wall, fixture is equipped with two sets of, including fixed mounting's clamping frame on the submersible end wall, runs through the processing on the clamping frame has the grip groove, evenly fixedly connected with centre gripping electric putter on the grip groove end wall, and centre gripping electric putter one side end fixedly connected with grip block, fixedly connected with anti-skidding protection pad on the grip block keep away from centre gripping electric putter one side end wall, has inserted the floater in the grip groove.
Further, the clamping frame end wall is symmetrically provided with a pressing mechanism, the pressing mechanism comprises a fixed block which is symmetrically and fixedly connected with the clamping frame end wall, the fixed block end wall is rotationally connected with a pressing electric push rod, the pressing electric push rod is in power connection with a pressing motor, the pressing motor is fixedly installed in the fixed block, the pressing electric push rod is far away from a mounting block which is fixedly connected with one side of the fixed block, the mounting block end wall is fixedly connected with a pressing rod, the lower side end of the pressing rod is fixedly connected with a pressing ring, the inner side surface of the pressing ring is of a funnel-shaped structure, and the floating ball is convenient to clamp better.
Further, be equipped with coupling mechanism on the installation piece, coupling mechanism includes fixed connection's connection extension board on the installation piece end wall, fixedly mounted has the connecting rod on the connection extension board end wall, connecting rod is kept away from the terminal fixedly connected with connecting block in connection extension board one side, be equipped with the gear chamber in the connecting block, rotate between the gear chamber end wall and be connected with the connection gear axle, the connection gear axle is connected with the connection motor power, connection motor fixed mounting is on the connecting block, connection gear axle surface fixedly connected with connects the driving gear, connect the driving gear with connect driven gear meshing, connect driven gear fixed mounting at the surface of screwed pipe, screwed pipe rotation is installed on the connecting block end wall, screwed pipe and fixed pipe rotation are connected, fixed pipe fixed mounting is on the connecting block end wall.
Further, be equipped with motion on the submersible end wall, motion is equipped with two sets of, symmetrical fixed mounting has the link on the submersible end wall, link is kept away from the terminal fixedly connected with support frame in submersible one side, the terminal motion groove that is equipped with in support frame both sides, the rotation is connected with the pivot between the motion groove end wall, pivot and motion motor power connection, motion motor fixed mounting is in the support frame, pivot surface fixed mounting has the motion gear, motion gear and annular guide rail meshing, annular guide rail rotates to be connected on the support frame, the even fixedly connected with of annular guide rail's surface dials the water board.
Based on the above mentioned buoyancy adjusting device suitable for a submersible, the invention further provides a buoyancy adjusting implementation method suitable for a submersible, comprising the following steps:
step A, pre-inflating the floating ball with 0.2MPa before draining; the floating ball is inserted into the clamping groove, and is clamped and installed through the clamping mechanism; the compressing mechanism moves, so that the compressing ring is driven to move to compress the two sides of the floating ball, and the floating ball is further compressed and installed; the connecting mechanism moves during compaction, so that the connection between the floating ball and the threaded pipe is realized, water is conveniently fed into and discharged from the floating ball, and buoyancy is regulated;
b, after the water is discharged, the buoyancy mechanism moves, so that the buoyancy is regulated; when the diving device needs to be lifted quickly, the auxiliary lifting mechanism moves, so that the diving device can be lifted quickly; the movement mechanism moves so as to drive the submersible to move.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the scheme, the buoyancy adjustment of the submersible is realized through the design of the buoyancy adjusting mechanism, the buoyancy adjustment can be realized according to the change of the liquid level of the floating ball, the adjustment and measurement efficiency and accuracy are high, the buoyancy adjustment is rapid, and the rapid and efficient buoyancy adjustment measurement is ensured. In addition, the auxiliary lifting mechanism is designed to realize auxiliary lifting of the submersible, and the auxiliary lifting mechanism moves in cooperation with the buoyancy adjusting mechanism, so that the submersible and the lifting are more rapid, and the submersible and the lifting time is effectively shortened.
Drawings
FIG. 1 is a schematic view of a buoyancy adjusting device according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a second direction structure of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a third directional structure of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 4 is a schematic view of a fourth direction structure of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 5 is a schematic view of a fifth direction structure of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a sixth direction of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of the structure at A-A in FIG. 6;
FIG. 8 is a schematic cross-sectional view of the structure at B-B in FIG. 6;
FIG. 9 is a schematic view of a seventh direction structure of a buoyancy adjusting device according to an embodiment of the present invention;
FIG. 10 is a schematic view illustrating a first direction structure of an auxiliary lifting mechanism according to an embodiment of the present invention;
FIG. 11 is a schematic view illustrating a second direction of an auxiliary lifting mechanism according to an embodiment of the present invention;
FIG. 12 is a schematic view illustrating a third direction structure of an auxiliary lifting mechanism according to an embodiment of the present invention;
FIG. 13 is a fourth schematic structural view of an auxiliary lifting mechanism according to an embodiment of the present invention;
FIG. 14 is a schematic cross-sectional view of the structure at C-C of FIG. 13;
FIG. 15 is a schematic cross-sectional view of the structure at D-D in FIG. 9;
Wherein: 1. a submersible; 2. a connecting block; 3. a clamp ring; 4. compressing the electric push rod; 5. a fixed block; 6. a clamping frame; 7. a connecting frame; 8. a support frame; 9. a water-drawing plate; 10. an annular guide rail; 11. a fixed tube; 12. connecting with a motor; 13. a fixing plate; 14. a motion plate; 15. a gear shaft; 16. a lifting gear; 17. lifting the annular guide rail; 18. a connecting rod; 19. a pressing rod; 20. a mounting block; 21. an upper visual sensor; 22. an upper visual sensor mounting plate; 23. a lifting motor; 24. a threaded tube; 25. a water inlet one-way valve; 26. a connecting pipe; 27. a one-way electromagnetic valve; 28. a flow guiding frame; 29. a three-way valve; 30. a motor; 31. a main shaft; 32. a drain valve mounting plate; 33. a drain valve; 34. a water pump; 35. the water pump mounting rack; 36. a drain check valve; 37. clamping the electric push rod; 38. a clamping plate; 39. a lower side visual sensor; 40. a lower visual sensor mounting plate; 41. a movement groove; 42. a motion gear; 43. an electric rotating shaft; 44. an electric push rod; 45. a motion cavity; 46. an extension plate; 47. a gear cavity; 48. connecting a driving gear; 49. connecting a gear shaft; 50. connecting a driven gear; 51. a delivery tube; 52. a floating ball; 53. a liquid level sensor; 54. a clamping groove; 55. and connecting the extension plates.
Detailed Description
In order that the above objects, features and advantages of the invention will be more readily understood, a further description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.
The embodiment 1, this embodiment proposes a buoyancy adjusting device suitable for a submersible, including a submersible 1 and a buoyancy adjusting mechanism disposed on the submersible 1, the buoyancy adjusting mechanism is used for adjusting the buoyancy of the submersible 1, the buoyancy adjusting mechanism includes a diversion frame 28 fixedly installed on the bottom wall of the submersible 1, the input end of the diversion frame 28 is connected with the output end of a one-way electromagnetic valve 27 through a connecting pipe 26, the one-way electromagnetic valve 27 is electrified after the water is launched, the one-way valve is opened, the sea water enters a buoyancy ball, the system sinks, after reaching the water depth of 30 meters of the motor, the one-way electromagnetic valve 27 is closed, the input end of the one-way electromagnetic valve 27 is connected with the output end of a water inlet one-way valve 25 through a connecting pipe 26, one output end of the diversion frame 28 is connected with a water drainage one-way valve 36, the output end of the water drainage one-way valve 36 is connected with the input end of a water pump 34 through a connecting pipe 26, and the water pump 34 is fixedly installed on the bottom wall of the submersible 1 through a water pump mounting frame 35; the output of water pump 34 passes through connecting pipe 26 with the input of drain valve 33 and is connected, is connected through main shaft 31 between water pump 34 and the motor 30, and the other two outputs of water conservancy diversion frame 28 are connected with the input of three-way valve 29 through connecting pipe 26, and two outputs of three-way valve 29 are connected with conveyer pipe 51, and conveyer pipe 51 adopts flexible material to make, and one side end fixedly connected with fixed pipe 11 of three-way valve 29 is kept away from to conveyer pipe 51, and fixed pipe 11 is kept away from one side end rotation of conveyer pipe 51 and is connected with screwed pipe 24, and screwed pipe 24 and the both sides end threaded connection of floater 52 are connected with level sensor 53 in the floater 52.
Wherein, the connecting pipe 26 and the flow guiding frame 28 are made of lightweight pressure-resistant metal materials, the outer surface of the connecting pipe is provided with an anti-corrosion material, the outer surface of the motor 30 is provided with a protective cover, the protective cover is fixedly arranged on the bottom wall of the submersible 1, the floating balls are made of titanium alloy TC4 or TA2 (selected by calculation), the inner volume of each floating ball is 37.5L, and the floating balls are designed into a capsule shape;
when the material of the floating ball is TC4: wall thickness mounting blocks are 20mm, each floating ball air mass electric rotating shaft is 43kg, the underwater buoyancy gear cavity is 47kg, and the underwater net weight is-4 kg;
When the material of the floating ball is TA2: the wall thickness lower side visual sensor mounting plate is 40mm, the air mass of each floating ball is 92.6kg, the underwater buoyancy is 58kg, and the underwater net weight is 34.6kg;
when the floating ball is 2507 stainless steel: the wall thickness is 20mm, the air mass of each floating ball is 78kg, the underwater buoyancy is 48kg, and the underwater net weight is 30kg;
so material TC4 is ultimately selected.
The volume of the 2 floating balls is 75L, and the adjustable buoyancy of the system is 60kg through calculation. The device is put into water, the buoyancy ball is inflated by 0.2MPa in advance before the water is discharged, the one-way electromagnetic valve 27 is electrified after the water is discharged, the one-way valve is opened, the water enters the connecting pipe 26 through the water inlet one-way valve 25, the water enters the flow guiding frame 28 through the one-way electromagnetic valve 27, the water outlet of the three-way valve 29 is opened, the water passes through the water outlet of the three-way valve 29 and passes through the water inlet of the floating ball 52 through the conveying pipe 51, seawater enters the floating ball 52, when the buoyancy is regulated, the motor 30 is started, the main shaft 31 is driven to rotate, the water pump 34 is driven to move, the water in the floating ball 52 is enabled to enter the water inlet of the three-way valve 29 through the conveying pipe 51, the water inlet of the three-way valve 29 is opened, the water enters the flow guiding frame 28 through the three-way valve 29, the water is discharged through the water pump 34 through the water discharge valve 36, the water discharge valve 33 is discharged, the liquid level sensor 53 measures the change in the floating ball 52, the buoyancy change can be calculated, and the buoyancy is regulated. The liquid level sensor is used for measuring the change of the liquid level in the floating ball, and the buoyancy is regulated and controlled according to the change of the buoyancy;
In addition, in this embodiment, in order to further improve the lifting adjustment efficiency, an auxiliary lifting mechanism is further provided on the submersible 1, the auxiliary lifting mechanism is used for performing auxiliary lifting, the auxiliary lifting mechanism is provided with two groups, and comprises fixing plates 13 symmetrically and fixedly connected on the end walls of the submersible 1, as shown in fig. 10-14, gear shafts 15 are rotatably connected at four corners between the fixing plates 13, lifting gears 16 are fixedly connected at two ends of the gear shafts 15, the lifting gears 16 are meshed with annular racks, the annular racks are made of the same material as the lifting gears 16, the annular racks are fixedly mounted on the inner wall of the lifting annular guide rail 17, the lifting annular guide rail 17 is rotatably mounted on the inner surface of the fixing plate 13, electric rotating shafts 43 are uniformly and equidistantly rotatably connected between the lifting annular guide rails 17, moving plates 14 are fixedly mounted on the outer surfaces of the electric rotating shafts 43, moving cavities 45 are processed on the moving plates 14, the inner wall of the motion cavity 45 is smooth, an electric push rod 44 is fixedly arranged on the array on the bottom wall of the motion cavity 45, the tail end of the electric push rod 44 is fixedly connected with an extension plate 46, the extension plate 46 is sealed with the motion cavity 45, the extension plate 46 is slidably connected between the end walls of the motion cavity 45, the upper side surface of one fixing plate 13 is fixedly connected with an upper side vision sensor mounting plate 22, the inner surface of the upper side vision sensor mounting plate 22 is fixedly connected with an upper side vision sensor 21, the bottom wall of the fixing plate 13 at the lower side of the upper side vision sensor mounting plate 22 is fixedly connected with a lower side vision sensor mounting plate 40, the inner side surface of the lower side vision sensor mounting plate 40 is fixedly connected with a lower side vision sensor 39, the lower side vision sensor 39 scans the lower side motion plate 14, the lower side vision sensor 39 is in signal connection with an electric rotating shaft 43 and the electric push rod 44, the upper vision sensor 21 scans the upper moving plate 14, the gear shaft 15 is connected with the lifting motor 23 in a power mode, the lifting motor 23 is fixedly arranged on the end wall of the fixed plate 13, the moving plate 14 close to one side of the submersible 1 is in a vertical position, and the moving plate 14 far away from one side of the submersible 1 is in a horizontal position.
Wherein, fixed plate 13 adopts the withstand voltage metal material of light to make, fixed plate 13 surface is equipped with wear-resisting material and anti-erosion material, gear shaft 15 adopts the metal material to make, gear shaft 15's surface is equipped with wear-resisting material and anti-erosion material, lifting gear 16 adopts the metal material to make, lifting gear 16's surface is equipped with wear-resisting material, lifting ring rail 17 adopts the flexible metal material to make, lifting ring rail 17's surface is equipped with anti-erosion material and wear-resisting material, electric pivot 43 adopts the metal material to make, electric pivot 43's surface is equipped with wear-resisting material and anti-erosion material, motion plate 14 adopts the metal material to make, motion plate 14's surface is equipped with anti-erosion material, electric putter 44 adopts the metal material to make, extension plate 46 surface is equipped with wear-resisting material, upper side view sensor mounting panel 22 adopts the metal material to make, upper side view sensor mounting panel 22's surface is equipped with anti-erosion material, lower side view sensor mounting panel 40 adopts the metal material to make, lower side view sensor mounting panel 40's surface is equipped with anti-erosion material.
When auxiliary lifting is needed, the lifting motor 23 is started, thereby driving the lifting gear 16 to rotate, the lifting gear 16 is meshed with the annular rack, thereby driving the lifting annular guide rail 17 to rotate, and further driving the electric rotating shaft 43 to move, the electric push rod 44 is electrified, the extension plate 46 is pushed to move outwards, and the outer moving plate 14 is driven to move upwards, the force received by the moving plate 14 is downwards, thereby enabling the submersible 1 to move downwards, the electric rotating shaft 43 moves to the outer upper corner position, the electric push rod 44 is electrified to move in opposite directions, the extension plate 46 is retracted into the moving cavity 45, the side view sensor 21 monitors the moving plate 14, and sends a signal to the electric rotating shaft 43, so that the electric rotating shaft 43 rotates, thereby driving the moving plate 14 to rotate, and enabling the moving plate 14 to be in the horizontal position when the moving plate 14 is not monitored, the electric rotating shaft 43 is sent a signal, thereby enabling the moving plate 14 to rotate to the horizontal direction, enabling the lifting motor 23 to reversely rotate, thereby driving the lifting annular guide rail 17 to reversely rotate, thereby driving the submersible 1 to ascend, and enabling the side view sensor 39 to ascend, and further enabling the side view sensor 39 to execute side view sensor to ascend.
In this embodiment, the end wall of the submersible 1 is further provided with a clamping mechanism, the clamping mechanism is used for clamping the floating balls 52, the clamping mechanism is provided with two groups, the clamping mechanism comprises a clamping frame 6 fixedly installed on the end wall of the submersible 1, a clamping groove 54 is formed in the clamping frame 6 in a penetrating manner, the inner surface of the clamping groove 54 is smooth, the end wall of the clamping groove 54 is uniformly and fixedly connected with a clamping electric push rod 37, the tail end of one side of the clamping electric push rod 37 is fixedly connected with a clamping plate 38, the end wall of one side, far away from the clamping electric push rod 37, of the clamping plate 38 is fixedly connected with an anti-slip protection pad, and the floating balls 52 are inserted into the clamping groove 54; the floating ball 52 is inserted into the clamping groove 54, and the clamping electric push rod 37 is electrified, so that the clamping plate 38 is driven to move, and the floating ball 52 is clamped.
In addition, the end walls of the clamping frames 6 are symmetrically provided with pressing mechanisms, the pressing mechanisms are used for pressing the tail end positions of two sides of the floating balls 52, each pressing mechanism comprises a fixed block 5 which is symmetrically and fixedly connected with the end walls of the clamping frames 6, each fixed block 5 is rotationally connected with a pressing electric push rod 4, each pressing electric push rod 4 is in power connection with a pressing motor, each pressing motor is fixedly arranged in each fixed block 5, one side end, far away from each fixed block 5, of each pressing electric push rod 4 is fixedly connected with a mounting block 20, a protective pad is arranged on the inner surface of each mounting block 20, each mounting block 20 is fixedly connected with a pressing rod 19, the tail end of the lower side of each pressing rod 19 is fixedly connected with a pressing ring 3, and the inner surface of each pressing ring 3 is provided with a protective pad; the inner side surface of the compression ring 3 is of a funnel-shaped structure, so that the floating ball 52 can be better clamped. And then the electric push rod 4 is electrified to drive the mounting block 20 to move, and the compression rod 19 is driven to move, so that the compression ring 3 is driven to move and is sleeved and compressed at the tail ends of the two sides of the floating ball 52.
The clamping frame 6, the clamping electric push rod 37, the fixing block 5, the pressing electric push rod 4, the mounting block 20, the pressing rod 19 and the pressing ring 3 are all made of metal materials, and anti-corrosion materials are arranged on the outer surfaces of the clamping frame and the clamping electric push rod.
In this embodiment, the mounting block 20 is provided with a connection mechanism, the connection mechanism is used for connection between the threaded tube 24 and the floating ball 52, so as to facilitate water supply and drainage in the floating ball 52, the connection mechanism comprises a connection extension plate 55 fixedly connected to the end wall of the mounting block 20, a connecting rod 18 is fixedly installed on the end wall of the connection extension plate 55, a connecting block 2 is fixedly connected to the end of one side of the connecting rod 18 far away from the connection extension plate 55, a gear cavity 47 is arranged in the connecting block 2, a connection gear shaft 49 is rotationally connected between the end walls of the gear cavity 47, the connection gear shaft 49 is in power connection with the connection motor 12, the connection motor 12 is fixedly installed on the connecting block 2, a connection driving gear 48 is fixedly connected to the outer surface of the connection gear shaft 49, the connection driving gear 48 is meshed with a connection driven gear 50, the connection driven gear 50 is fixedly installed on the outer surface of the threaded tube 24, the threaded tube 24 is rotationally installed on the end wall of the connecting block 2, the threaded tube 24 is rotationally connected with the fixed tube 11, and the fixed tube 11 is fixedly installed on the end wall of the connecting block 2; and the mounting block 20 moves to drive the connection extension plate 55 to move, so as to drive the threaded pipe 24 to move and contact the tail ends of the two sides of the floating ball 52, the connection motor 12 is started to drive the connection gear shaft 49 to rotate, so as to drive the connection driving gear 48 to rotate, the connection driving gear 48 is meshed with the connection driven gear 50, so as to drive the threaded pipe 24 to rotate, and the threaded pipe 24 is in threaded connection with the tail ends of the floating ball 52, so that the connection between the threaded pipe 24 and the floating ball 52 is realized.
Also, the connection extension plate 55, the connection rod 18 and the connection block 2 are made of metal materials, and are provided with anti-corrosion materials on the outer surfaces thereof, and the connection gear shaft 49 and the connection driven gear 50 are made of metal materials, and are provided with anti-wear materials on the outer surfaces thereof.
As shown in fig. 9, the end wall of the submersible 1 is provided with a moving mechanism, the moving mechanism is used for driving the submersible 1 to move, the end wall of the submersible 1 is symmetrically and fixedly provided with a connecting frame 7, the connecting frame 7 is made of metal materials, the outer surface of the connecting frame 7 is provided with an anti-erosion material, the tail end of one side of the connecting frame 7, which is far away from the submersible 1, is fixedly connected with a supporting frame 8, the supporting frame 8 is made of metal materials, the outer surface of the supporting frame 8 is provided with anti-erosion materials and anti-wear materials, the tail ends of the two sides of the supporting frame 8 are provided with moving grooves 41, a rotating shaft is rotationally connected between the end walls of the moving grooves 41, the rotating shaft is made of metal materials, the outer surface of the rotating shaft is provided with anti-wear materials, the rotating shaft is in power connection with a moving motor, the moving motor is fixedly arranged in the supporting frame 8, the outer surface of the rotating shaft is fixedly provided with a moving gear 42, the moving gear 42 is made of metal materials, the outer surface of the moving gear 42 is meshed with an annular guide rail 10, the outer surface of the annular guide rail 10 is made of flexible metal materials, the outer surface of the annular guide rail 10 is provided with the anti-wear materials, and the anti-erosion materials are rotationally connected to the supporting frame 8, and the outer surface of the annular guide rail 10 is uniformly and fixedly connected with a water-pulling plate 9; thereby starting the movement motor, driving the rotation shaft to rotate, driving the movement gear 42 to rotate, and driving the water drawing plate 9 to move by the engagement of the movement gear 42 and the annular guide rail 10, thereby realizing the movement in water.
Embodiment 2, based on the buoyancy adjusting device provided in embodiment 1, the present embodiment provides a buoyancy adjusting implementation method applicable to a submersible, which includes the following steps:
Step A, pre-inflating the floating ball 52 with 0.2MPa before draining; the floating ball 52 is inserted into the clamping groove 54, and the floating ball 52 is clamped and installed through the clamping mechanism; the compressing mechanism moves, so that the compressing ring 3 is driven to move to compress the two sides of the floating ball 52, and the floating ball 52 is further compressed and installed; the connecting mechanism moves during compaction, so that the connection between the floating ball 52 and the threaded pipe 24 is realized, water is conveniently fed into and discharged from the floating ball 52 according to the liquid level change, and buoyancy is regulated;
Step B, after the water is discharged, controlling the buoyancy mechanism to move according to the liquid level change, so that the buoyancy is regulated; when the diving device needs to be lifted quickly, the auxiliary lifting mechanism moves, so that the diving device 1 can be lifted quickly; and the movement mechanism drives the submersible 1 to move.
The specific working process is as follows:
(1) The floating ball 52 is inserted into the clamping groove 54, the clamping electric push rod 37 is electrified, the clamping plate 38 is driven to move, the floating ball 52 is clamped, the pressing motor is started, the pressing electric push rod 4 is driven to rotate, the mounting block 20 is driven to rotate ninety degrees, then the pressing electric push rod 4 is electrified, the mounting block 20 is driven to move, the pressing rod 19 is driven to move, the pressing ring 3 is driven to move and sleeve and press the tail ends of the two sides of the floating ball 52, the mounting block 20 is driven to move, the connecting extension plate 55 is driven to move, the threaded pipe 24 is driven to move and contact the tail ends of the two sides of the floating ball 52, the connecting motor 12 is started, the connecting gear shaft 49 is driven to rotate, the connecting driving gear 48 is meshed with the connecting driven gear 50, the threaded pipe 24 is driven to rotate, the threaded pipe 24 is connected with the tail ends of the floating ball 52 in a threaded mode, and connection between the threaded pipe 24 and the floating ball 52 is achieved;
(2) The device is put into water, the buoyancy ball is inflated by 0.2MPa in advance before the water is discharged, the one-way electromagnetic valve 271DT is electrified after the water is discharged, the one-way valve is opened, the water enters the connecting pipe 26 through the water inlet one-way valve 25, enters the flow guiding frame 28 through the one-way electromagnetic valve 27, the water outlet of the three-way valve 29 is opened, the water passes through the water inlet of the floating ball 52 through the delivery pipe 51 through the water outlet of the three-way valve 29, and the seawater enters the floating ball 52;
(3) When the buoyancy is regulated, the motor 30 is started, so that the main shaft 31 is driven to rotate, the water pump 34 is driven to move, water in the floating ball 52 enters a water inlet of the three-way valve 29 through a water outlet of the floating ball 52 and a conveying pipe 51, the water inlet of the three-way valve 29 is opened, the water enters the flow guiding frame 28 through the three-way valve 29, the water is discharged through the water pump 34 and a water discharging valve 33 through a water discharging one-way valve 36, the liquid level sensor 53 measures the liquid level change in the floating ball 52, the buoyancy change can be calculated, and the buoyancy is regulated and controlled;
(4) When auxiliary lifting is needed:
The lifting motor 23 is started, so that the lifting gear 16 is driven to rotate, the lifting gear 16 is meshed with the annular rack, the lifting annular guide rail 17 is driven to rotate, the electric rotating shaft 43 is driven to move, the electric push rod 44 is powered, the extension plate 46 is driven to move outwards, the outer moving plate 14 is driven to move upwards, and the force exerted by the moving plate 14 is downwards, so that the submersible 1 moves downwards;
The electric rotating shaft 43 moves to the upper corner position on the outer side, the electric push rod 44 moves in the opposite direction, so that the extension plate 46 is retracted into the moving cavity 45, the upper side view sensor 21 monitors the moving plate 14 and sends a signal to the electric rotating shaft 43, the electric rotating shaft 43 rotates, the moving plate 14 is driven to rotate, the moving plate 14 is in the horizontal position when reaching the inner side position, the lower side view sensor 39 monitors the moving plate 14 in the lower side position, and when the moving plate 14 is not monitored, the electric rotating shaft 43 sends a signal to the electric rotating shaft 43, the electric rotating shaft 43 rotates, the moving plate 14 is driven to rotate in the horizontal direction, the lifting motor 23 moves reversely, the lifting annular guide rail 17 is driven to rotate reversely, and the submersible 1 is driven to ascend; when ascending, the lower-side vision sensor 39 performs the movement information of the upper-side vision sensor 21, and the upper-side vision sensor 21 performs the movement information of the lower-side vision sensor 39, thereby assisting the ascending.
The present invention is not limited to the above embodiments, and any equivalent embodiments which can be changed or modified by the technical disclosure described above can be applied to other fields, but any simple modification, equivalent changes and modification to the above embodiments according to the technical matter of the present invention will still fall within the protection scope of the technical disclosure.
Claims (10)
1. Buoyancy adjusting device suitable for a submersible, comprising a submersible (1), characterized in that: the submersible (1) is provided with a buoyancy adjusting mechanism, the buoyancy adjusting mechanism comprises a flow guide frame (28), a floating ball (52), a motor (30) and a water pump (34), the water pump (34) is connected with the motor (30) through a main shaft (31), and a liquid level sensor (53) is arranged in the floating ball (52);
The input end of the flow guiding frame (28) is connected with the output end of a one-way electromagnetic valve (27), the input end of the one-way electromagnetic valve (27) is connected with the output end of a water inlet one-way valve (25), one output end of the flow guiding frame (28) is connected with a water draining one-way valve (36), the output end of the water draining one-way valve (36) is connected with the input end of a water pump (34), the output end of the water pump (34) is connected with the input end of a water draining valve (33), the other two output ends of the flow guiding frame (28) are connected with the input end of a three-way valve (29), two output ends of the three-way valve (29) are connected with conveying pipes (51), one side end of the conveying pipe (51) away from the three-way valve (29) is fixedly connected with a fixed pipe (11), one side end of the fixed pipe (11) away from the conveying pipe (51) is rotationally connected with a threaded pipe (24), and the threaded pipe (24) is in threaded connection with the two side ends of a floating ball (52).
2. A buoyancy adjustment device for a submersible according to claim 1, wherein: the submersible (1) is provided with an auxiliary lifting mechanism, the auxiliary lifting mechanism comprises fixing plates (13) symmetrically and fixedly connected with the end wall of the submersible (1), gear shafts (15) are rotatably connected between the fixing plates (13), lifting annular guide rails (17) are rotatably arranged on the inner surfaces of the fixing plates (13), annular racks are fixedly arranged on the inner walls of the lifting annular guide rails (17), lifting gears (16) are fixedly connected with the tail ends of two sides of the gear shafts (15), and the lifting gears (16) are meshed with the annular racks; the gear shaft (15) is in power connection with the lifting motor (23), and the lifting motor (23) is fixedly arranged on the end wall of the fixed plate (13);
The electric submersible vehicle is characterized in that electric rotating shafts (43) are connected between the lifting annular guide rails (17) in an equidistant rotating mode, a moving plate (14) is fixedly arranged on the outer surface of each electric rotating shaft (43), a moving cavity (45) is formed in each moving plate (14), electric push rods (44) are fixedly arranged on the bottom wall of each moving cavity (45) in an array mode, extension plates (46) are fixedly connected to the tail ends of the electric push rods (44), the extension plates (46) are slidably connected between the end walls of the moving cavities (45), the moving plates (14) close to one side of the submersible vehicle (1) are in a vertical state, and the moving plates (14) far away from one side of the submersible vehicle (1) are in a horizontal state;
an upper side visual sensor (21) and a lower side visual sensor (39) are fixedly arranged on the upper side surface and the lower side surface of one fixing plate (13) respectively; the upper side vision sensor (21) scans the upper side moving plate (14), the lower side vision sensor (39) scans the lower side moving plate (14), and the lower side vision sensor (39) is connected with the electric rotating shaft (43) and the electric push rod (44) in a signal mode.
3. A buoyancy adjustment device for a submersible according to claim 2, wherein: be equipped with fixture on the submersible (1) end wall, fixture includes fixed mounting's clamping frame (6) on the submersible (1) end wall, runs through processing on clamping frame (6) has grip groove (54), evenly fixedly connected with centre gripping electric putter (37) on grip groove (54) end wall, and centre gripping electric putter (37) one side end fixedly connected with grip block (38), fixedly connected with slipmat on grip block (38) keep away from grip electric putter (37) one side end wall, and floater (52) are inserted in grip groove (54).
4. A buoyancy adjustment device for a submersible according to claim 3, wherein: clamping mechanism is symmetrically arranged on the end wall of the clamping frame (6), the clamping mechanism comprises a fixed block (5) which is symmetrically and fixedly connected with the end wall of the clamping frame (6), a pressing electric push rod (4) is rotationally connected to the end wall of the fixed block (5), the pressing electric push rod (4) is in power connection with a pressing motor, the pressing motor is fixedly arranged in the fixed block (5), one side end of the pressing electric push rod (4) away from the fixed block (5) is fixedly connected with a mounting block (20), a pressing rod (19) is fixedly connected to the end wall of the mounting block (20), and a pressing ring (3) is fixedly connected to the lower end of the pressing rod (19).
5. A buoyancy adjustment device for a submersible as recited in claim 4 wherein: be equipped with coupling mechanism on installation piece (20), coupling mechanism includes fixedly connected connection extension board (55) on installation piece (20) end wall, fixedly mounted connection pole (18) on connection extension board (55) end wall, connection extension board (55) one side end fixedly connected with connecting block (2) are kept away from to connecting pole (18), be equipped with gear chamber (47) in connecting block (2), rotate between gear chamber (47) end wall and be connected with connection gear axle (49), connection gear axle (49) are connected with connection motor (12) power, connection motor (12) fixed mounting is on connecting block (2), connection gear axle (49) surface fixedly connected with connection driving gear (48), connection driving gear (48) and connection driven gear (50) meshing, connection driven gear (50) fixed mounting is at the surface of screwed pipe (24), screwed pipe (24) rotate and install on connecting block (2) end wall, screwed pipe (24) are connected with fixed pipe (11) rotation, fixed pipe (11) fixed mounting is on connecting block (2) end wall.
6. A buoyancy adjustment device for a submersible according to claim 3, wherein: be equipped with motion on the submersible (1) end wall, link (7) including symmetry fixed mounting on the submersible (1) end wall, link (7) are kept away from submersible (1) one side end fixedly connected with support frame (8), support frame (8) both sides end is equipped with motion groove (41), it is connected with the pivot to rotate between motion groove (41) end wall, pivot and motion motor power are connected, motion motor fixed mounting is in support frame (8), pivot surface fixed mounting has motion gear (42), motion gear (42) and annular guide rail (10) meshing, annular guide rail (10) rotate and connect on support frame (8), the even fixedly connected with of surface of annular guide rail (10) dials water board (9).
7. A buoyancy adjustment device for a submersible as recited in claim 4 wherein: the inner side surface of the compression ring (3) is of a funnel-shaped structure.
8. A method for implementing a buoyancy adjustment device for a submersible vehicle according to any one of claims 3-7, characterized by: the method comprises the following steps:
Step A, before the water is discharged, inflating the floating ball (52) in advance, inserting the floating ball (52) into the clamping groove (54), and clamping and installing the floating ball (52) through the clamping mechanism; the compressing mechanism moves, so that the compressing ring (3) is driven to move to compress the two sides of the floating ball (52), and the connecting mechanism moves during compressing to realize the connection between the floating ball (52) and the threaded pipe (24);
step B, after the water is discharged, controlling the buoyancy adjusting mechanism to move according to the liquid level change of the floating ball (52), so as to realize the adjustment of buoyancy; when the diving device needs to be lifted quickly, the auxiliary lifting mechanism moves, so that the diving device (1) can be lifted quickly; and the movement mechanism drives the submersible (1) to move.
9. A method of implementing a buoyancy adjustment device for a submersible as recited in claim 8, wherein: in the step B, when buoyancy is regulated, the motor (30) is started to drive the main shaft (31) to rotate, so that the water pump (34) is driven to move, water in the floating ball (52) enters a water inlet of the three-way valve (29) through a water outlet of the floating ball (52) and then enters the flow guide frame (28), the water is discharged through the water pump (34) and the water discharge valve (33) through the water discharge one-way valve (36), the liquid level change in the floating ball (52) is measured by the liquid level sensor (53), and the buoyancy is regulated and controlled according to the buoyancy change.
10. A method of implementing a buoyancy adjustment device for a submersible as recited in claim 8, wherein: in the step B, when auxiliary lifting is needed, a lifting motor (23) is started, so that a lifting gear (16) is driven to rotate, the lifting gear (16) is meshed with an annular rack, a lifting annular guide rail (17) is driven to rotate, an electric rotating shaft (43) is driven to move, an electric push rod (44) is powered to drive an extension plate (46) to move outwards, an outer moving plate (14) is driven to move upwards, and the force born by the moving plate (14) is downwards, so that the submersible (1) moves downwards;
When the electric rotating shaft (43) moves to the outer upper corner position, the electric movement direction of the electric push rod (44) is opposite, so that the extension plate (46) is retracted into the movement cavity (45), the upper visual sensor (21) monitors the movement plate (14) and sends a signal to the electric rotating shaft (43), the electric rotating shaft (43) rotates to drive the movement plate (14) to rotate, and the movement plate (14) is in a horizontal position when reaching the inner side position;
The lower visual sensor (39) monitors the moving plate (14) at the lower position, and when the moving plate (14) is not monitored, a signal is sent to the electric rotating shaft (43) to enable the electric rotating shaft (43) to rotate, the moving plate (14) is driven to rotate to the horizontal direction, the lifting motor (23) is driven to move reversely, the lifting annular guide rail (17) is driven to rotate reversely, and the submersible (1) is driven to ascend; when ascending, the lower-side vision sensor (39) executes the motion information of the upper-side vision sensor (21), and the upper-side vision sensor (21) executes the motion information of the lower-side vision sensor (39), thereby realizing auxiliary ascending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410417217.6A CN118004392A (en) | 2024-04-09 | 2024-04-09 | Buoyancy adjusting device suitable for submersible and implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410417217.6A CN118004392A (en) | 2024-04-09 | 2024-04-09 | Buoyancy adjusting device suitable for submersible and implementation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118004392A true CN118004392A (en) | 2024-05-10 |
Family
ID=90950397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410417217.6A Pending CN118004392A (en) | 2024-04-09 | 2024-04-09 | Buoyancy adjusting device suitable for submersible and implementation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118004392A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63305013A (en) * | 1987-06-05 | 1988-12-13 | Fueibaa:Kk | Caterpillar propulsion type high speed ship |
| US20070186837A1 (en) * | 2003-08-22 | 2007-08-16 | Aberdeen University | Buoyancy control system |
| CN102774483A (en) * | 2012-06-15 | 2012-11-14 | 华中科技大学 | Water hydraulic system of multifunctional submersible |
| CN103803047A (en) * | 2012-11-06 | 2014-05-21 | 余玉萍 | Tracked paddle propeller |
| CN107618643A (en) * | 2017-09-11 | 2018-01-23 | 河海大学 | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible |
| CN211892750U (en) * | 2020-04-20 | 2020-11-10 | 广东海洋大学 | Crawler belt water-paddling type underwater detection robot |
| CN113859492A (en) * | 2021-09-27 | 2021-12-31 | 江苏科技大学 | Underwater vehicle based on air cabin control floating and diving |
-
2024
- 2024-04-09 CN CN202410417217.6A patent/CN118004392A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63305013A (en) * | 1987-06-05 | 1988-12-13 | Fueibaa:Kk | Caterpillar propulsion type high speed ship |
| US20070186837A1 (en) * | 2003-08-22 | 2007-08-16 | Aberdeen University | Buoyancy control system |
| CN102774483A (en) * | 2012-06-15 | 2012-11-14 | 华中科技大学 | Water hydraulic system of multifunctional submersible |
| CN103803047A (en) * | 2012-11-06 | 2014-05-21 | 余玉萍 | Tracked paddle propeller |
| CN107618643A (en) * | 2017-09-11 | 2018-01-23 | 河海大学 | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible |
| CN211892750U (en) * | 2020-04-20 | 2020-11-10 | 广东海洋大学 | Crawler belt water-paddling type underwater detection robot |
| CN113859492A (en) * | 2021-09-27 | 2021-12-31 | 江苏科技大学 | Underwater vehicle based on air cabin control floating and diving |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111109214B (en) | Suction type deep sea submarine organism collecting and in-situ retaining system and using method thereof | |
| CN207738365U (en) | A kind of sewage pump lifting tool | |
| CN110985275B (en) | Wave generator capable of acting in one-way through buoyancy | |
| TW201319387A (en) | Hydraulic generating apparatus and hydraulic generating system | |
| CN108035320A (en) | A kind of hydraulic engineering gate | |
| CN107891969A (en) | A kind of dilatation reduces density increase buoyant device | |
| CN109795630A (en) | A kind of unmanned boat for water environment detection | |
| GB2611264A (en) | Wave generator doing work in one direction by using buoyancy | |
| CN113148028A (en) | Semi-submersible type immersed tube transportation and installation integrated ship and construction process | |
| CN117250038B (en) | Submarine drilling sampling equipment and method based on submersible | |
| CN113030406A (en) | Marine ecology monitoring buoy device with elevation structure | |
| CN206725550U (en) | A kind of chemical engineering sewage detection device | |
| CN210653597U (en) | Mechanical balance self-stabilization underwater robot | |
| CN118004392A (en) | Buoyancy adjusting device suitable for submersible and implementation method | |
| CN214524328U (en) | Semi-submersible type immersed tube transporting and installing integrated ship | |
| CN109236683B (en) | Submerged slurry pump capable of changing according to water level | |
| CN109653997B (en) | Underwater pneumatic water pumping device | |
| CN112849369B (en) | Marine deep sea detection device throwing device | |
| CN213384667U (en) | Underwater robot moving bearing platform | |
| CN109606664A (en) | A kind of water life-saving robot with additional reinforcement function | |
| CN218496775U (en) | Crawler-type hull underwater detection device | |
| CN211462216U (en) | Rotational flow sand settling device for hydraulic engineering | |
| CN210083511U (en) | Mini underwater robot capable of monitoring water quality | |
| CN111137420A (en) | Buoyancy-variable underwater robot arm | |
| CN216224283U (en) | Polycarboxylate water reducing agent's ration feeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |