CN212766697U - Buoyancy adjusting device - Google Patents
Buoyancy adjusting device Download PDFInfo
- Publication number
- CN212766697U CN212766697U CN202021671152.1U CN202021671152U CN212766697U CN 212766697 U CN212766697 U CN 212766697U CN 202021671152 U CN202021671152 U CN 202021671152U CN 212766697 U CN212766697 U CN 212766697U
- Authority
- CN
- China
- Prior art keywords
- oil
- oil tank
- end cover
- pipe
- tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
Abstract
The utility model discloses a buoyancy adjusting device, which comprises a leather bag, an oil tank and a hydraulic oil circuit; the oil tank comprises an oil tank end cover and a corrugated pipe, the corrugated pipe is of a cylindrical structure with an upper opening and a lower opening, and the oil tank end cover comprises an oil tank upper end cover and an oil tank lower end cover; an oil return port, an oil discharge port and an exhaust hole are respectively formed in the oil tank end cover; the hydraulic oil circuit comprises an oil discharge pipe and an oil return pipe, wherein one end of the oil discharge pipe is connected with an oil discharge port of the oil tank, and the other end of the oil discharge pipe is connected with an oil inlet of the leather bag; one end of the oil return pipe is connected with an oil return port of the oil tank, and the other end of the oil return pipe is connected with an oil outlet of the leather bag; a gear pump and a one-way valve are installed on the oil discharge pipe, and an electromagnetic valve is installed on the oil return pipe; this application is through adopting the bellows oil tank, only needs to set up a gear pump and is used for the oil extraction, utilizes the inside and outside pressure differential of oil tank to realize automatic oil return, can effectively practice thrift the cost of underwater vehicle and reduce the energy consumption of underwater vehicle.
Description
Technical Field
The utility model relates to an ocean exploration equips technical field, concretely relates to buoyancy adjusting device.
Background
Underwater vehicles such as underwater gliders, ARGOS profile buoys and the like are common ocean exploration equipment, and are widely applied to ocean information observation and ocean development and utilization due to the characteristics of small volume, long time sequence, large range and high autonomy. The buoyancy regulating device is a main power component of the underwater vehicles, and the buoyancy of the underwater vehicles is regulated by the buoyancy regulating device to submerge and float, so that other power devices are not required to be added, the energy consumption is low, and the endurance time is long.
The buoyancy adjusting device of the existing underwater vehicle generally comprises an outer oil bag and an inner oil tank, wherein the inner oil tank adopts a leather bag type inner oil tank to store oil, two stages of hydraulic pumps are needed to realize oil discharge under high pressure when buoyancy adjustment is carried out, and the defects of complex structure, high energy consumption and the like exist. For example, the chinese patent publication No. CN110667810A discloses "a buoyancy adjusting device for an underwater glider", which includes left and right oil chambers, and when the underwater glider floats up and dives, the functions of a hydraulic cylinder are realized by the different oil chambers, a piston main body and a piston rod, and the function of an oil tank is realized by the other oil chamber, and the functions of the left and right oil chambers are switched accordingly by switching the moving mode of the piston main body, so that the buoyancy adjustment is realized, and the structure and the control are complicated.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model aims at providing a simple structure's buoyancy adjusting device.
The utility model adopts the technical proposal that:
a buoyancy adjusting device comprises a leather bag, an oil tank and a hydraulic oil way;
the oil tank comprises an oil tank end cover and a corrugated pipe, the corrugated pipe is of a cylindrical structure with an upper opening and a lower opening, the oil tank end cover comprises an oil tank upper end cover and an oil tank lower end cover, the oil tank lower end cover is fixed at the lower end of the corrugated pipe to seal the lower opening of the corrugated pipe, and the oil tank upper end cover is detachably connected to the upper end of the corrugated pipe to seal the upper opening of the corrugated pipe; an oil return port, an oil discharge port and an exhaust hole are respectively formed in the oil tank end cover;
the hydraulic oil circuit comprises an oil discharge pipe and an oil return pipe, wherein one end of the oil discharge pipe is connected with an oil discharge port of the oil tank, and the other end of the oil discharge pipe is connected with an oil inlet of the leather bag; one end of the oil return pipe is connected with an oil return port of the oil tank, and the other end of the oil return pipe is connected with an oil outlet of the leather bag; and the oil discharge pipe is provided with a gear pump and a one-way valve, and the oil return pipe is provided with an electromagnetic valve.
Further, the oil tank and the hydraulic oil circuit are arranged in the closed space, and the leather bag is arranged outside the closed space.
Further, the closed space comprises a pressure-resistant shell, an upper pressure-resistant end cover and a lower pressure-resistant end cover, the pressure-resistant shell is of a cylinder structure with two open ends, and the upper pressure-resistant end cover and the lower pressure-resistant end cover are respectively sealed at two ends of the pressure-resistant shell.
Further, the leather bag is fixed on the upper pressure resistant end cover.
Further, still include the leather bag safety cover, this leather bag safety cover sets up in the periphery of leather bag.
Further, the oil tank further comprises a filter which is fixed on the inner side of the upper end cover of the oil tank and corresponds to the oil drain port.
Furthermore, the check valve is embedded in the upper-pressure-resistant end cover.
Further, the corrugated pipe is a metal corrugated pipe.
Further, still include guiding mechanism, guiding mechanism includes guide bar and guide sleeve, guide sleeve fixed mounting is on the oil tank lower extreme lid, the upper end and the oil tank upper end cap fixed connection of guide bar, its lower extreme pass guide sleeve and with guide sleeve sliding fit.
Furthermore, the guide mechanism further comprises a guide stop ring which is sleeved on the guide rod and is positioned on one side of the lower end cover of the oil tank, which is opposite to the upper end cover of the oil tank.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic structural diagram of a buoyancy regulating device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an oil tank provided in an embodiment of the present application.
The device comprises a leather bag protective cover 1, a leather bag 2, a pressure-resistant upper end cover 3, an electromagnetic valve 4, an oil return pipe 5, a flange 6, a corrugated pipe 7, an oil tank lower end cover 8, a pressure-resistant lower end cover 9, a pressure-resistant shell 10, a guide rod 11, a filter 12, an oil tank upper end cover 13, a gear pump 14, a one-way valve 15, an exhaust hole 16, a locknut 17, a guide retaining ring 18, a guide sleeve 19, an oil discharge port 20 and an oil return port 21.
Detailed Description
Here, it is to be noted that the functions, methods, and the like related to the present invention are only conventional adaptive applications of the related art. Therefore, the present invention is an improvement of the prior art, which substantially lies in the connection relationship between hardware, not in the functions and methods themselves, that is, the present invention relates to a few functions and methods, but does not include the improvements proposed in the functions and methods themselves. The present invention is described for better illustration of the function and method for better understanding of the present invention.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
Referring to fig. 1 and 2, the buoyancy adjusting device comprises a bladder 2, an oil tank and a hydraulic oil circuit; the oil tank comprises an oil tank end cover and a corrugated pipe 7, the corrugated pipe 7 is of a cylindrical structure with an upper opening and a lower opening, the oil tank end cover comprises an oil tank upper end cover 13 and an oil tank lower end cover 8, the oil tank lower end cover 8 is fixed at the lower end of the corrugated pipe 7 to seal the lower opening of the corrugated pipe 7, and the oil tank upper end cover 13 is detachably connected to the upper end of the corrugated pipe 7 to seal the upper opening of the corrugated pipe; an oil return port 21, an oil discharge port 20 and an exhaust hole 16 are respectively arranged on the oil tank end cover; the hydraulic oil circuit comprises an oil discharge pipe and an oil return pipe 5, wherein one end of the oil discharge pipe is connected with an oil discharge port 20 of the oil tank, and the other end of the oil discharge pipe is connected with an oil inlet of the leather bag 2; one end of the oil return pipe 5 is connected with an oil return port 21 of the oil tank, and the other end of the oil return pipe is connected with an oil outlet of the leather bag 2; and a gear pump 14 and a one-way valve 15 are installed on the oil discharge pipe, and an electromagnetic valve 4 is installed on the oil return pipe 5.
The buoyancy adjusting device is a buoyancy driving unit of an underwater vehicle and can be applied to underwater gliders, underwater aircrafts, buoys and the like. The oil tank of the buoyancy adjusting device comprises an oil tank upper end cover 13, an oil tank lower end cover 8 and a corrugated pipe 7, wherein the oil tank lower end cover 8 is fixed at the lower end of the corrugated pipe 7 so as to seal a lower end opening of the corrugated pipe 7, the oil tank upper end cover 13 is detachably connected to the upper end of the corrugated pipe 7 so as to seal an upper end opening of the corrugated pipe, and the oil tank upper end cover 13, the oil tank lower end cover 8 and the corrugated pipe 7 form a closed oil storage cavity; when buoyancy adjustment is carried out, the bellows 7 can change the volume of the oil tank through expansion and contraction, return drainage of hydraulic oil is realized, the structure is simple, the overall size of the underwater vehicle can be effectively reduced, and the overall weight of the underwater vehicle is reduced.
The hydraulic oil circuit comprises an oil discharge pipe and an oil return pipe 5, a gear pump 14 and a one-way valve 15 are installed on the oil discharge pipe, an electromagnetic valve 4 is installed on the oil return pipe 5, and hydraulic oil is controlled to flow between the leather bag 2 and the oil tank through the gear pump 14, the one-way valve 15 and the electromagnetic valve 4, so that the buoyancy of the underwater vehicle is changed. When the underwater vehicle needs to increase buoyancy for floating, the gear pump 14 is electrified to work, hydraulic oil in the oil tank is discharged into the leather bag 2 through the oil discharge pipe, so that the volume of the leather bag 2 is increased, the buoyancy is increased, and the underwater vehicle floats upwards; on the contrary, when the buoyancy needs to be reduced to enable the underwater vehicle to submerge, the electromagnetic valve 4 is electrified to work, and the hydraulic oil in the leather bag 2 returns to the oil tank through the oil return pipe 5 by means of the pressure difference between the inside and the outside of the oil tank, so that the buoyancy is reduced, and the underwater vehicle submerges.
This application only needs to set up a gear pump 14 and is used for the oil extraction through adopting bellows 7 oil tank, utilizes the inside and outside pressure differential of oil tank to realize automatic oil return, can effectively practice thrift the cost of underwater vehicle and reduce the energy consumption of underwater vehicle to have advantages such as simple structure, quality are light, efficient, the reliability is high, maintain simple and convenient, long service life, low cost.
The oil discharge pipe and the oil return pipe 5 can be both made of stainless steel pipes.
The gear pump 14 can be driven by a motor to work, and the transmission mode of the motor and the gear pump 14 can be synchronous belt transmission. The motor may be connected to and controlled by a control system.
The oil tank and the hydraulic oil circuit are arranged in the closed space, and the leather bag 2 is arranged outside the closed space. Specifically, the closed space comprises a pressure-resistant shell 10, a pressure-resistant upper end cover 3 and a pressure-resistant lower end cover 9, the pressure-resistant shell 10 is a cylindrical structure with openings at two ends, and the pressure-resistant upper end cover 3 and the pressure-resistant lower end cover 9 are respectively sealed at two ends of the pressure-resistant shell 10; the leather bag 2 is fixed on the upper pressure-resistant end cover 3.
The pressure-resistant upper end cover 3 can be detachably connected with the pressure-resistant shell 10, and an oil tank and a hydraulic oil circuit can be arranged in a closed space formed by the pressure-resistant upper end cover 3, the pressure-resistant shell 10 and the pressure-resistant lower end cover 9 by dismounting the pressure-resistant upper end cover 3; the leather bag 2 is fixedly connected with the pressure-resistant upper end cover 3 through screw compression.
The corrugated pipe 7 may be a metal corrugated pipe 7, or may be made of other materials. In this embodiment, the corrugated tube 7 is a metal corrugated tube 7 made of stainless steel. Through setting up bellows 7 into corrugated metal pipe 7, make the oil tank be full metallic structure, in long-time oil storage is used, the oil tank is more durable.
The oil return port 21 and the oil discharge port 20 are both arranged on the upper end cover 13 of the oil tank and are used for being connected with a hydraulic oil circuit, and the exhaust hole 16 is arranged on the lower end cover 8 of the oil tank and is used for exhausting the oil tank. By arranging the vent hole 16 on the lower end cover 8 of the oil tank, when the air needs to be exhausted, the oil tank is inverted, and the vent hole 16 is opened, so that the air in the oil tank can be conveniently exhausted. Because bellows 7 can freely stretch out and draw back, consequently set up exhaust hole 16 in the bottom of oil tank and arrange the inside gas of oil tank more easily, and convenient and fast more.
The length of the corrugated pipe 7 can be set according to actual needs, and when the corrugated pipe 7 is long, because the corrugated pipe 7 is of a flexible structure, a guide mechanism can be arranged between the oil tank upper end cover 13 and the oil tank lower end cover 8 to support the corrugated pipe 7. The number of the guide mechanisms is at least two, and the two guide mechanisms are symmetrically arranged on the outer side of the corrugated pipe 7.
The guide mechanism comprises a guide rod 11 and a guide sleeve 19, the guide sleeve 19 is fixedly installed on the lower end cover 8 of the oil tank, the upper end of the guide rod 11 is fixedly connected with the upper end cover 13 of the oil tank, and the lower end of the guide rod penetrates through the guide sleeve 19 and is in sliding fit with the guide sleeve 19. As bellows 7 contracts, guide rod 11 slides within guide sleeve 19 to maintain support for bellows 7.
Specifically, the upper end of the guide rod 11 is fixed with the upper end cover of the oil tank through a locknut 17.
The guide mechanism further comprises a guide stop ring 18, and the guide stop ring 18 is sleeved on the guide rod 11 and is positioned on one side of the lower end cover of the oil tank, which is opposite to the upper end cover of the oil tank.
In order to prevent jamming, the guide sleeve 19 and the guide stop ring 18 are made of teflon.
The bellows 7 may be connected to the tank upper end cap 13 and the tank lower end cap 8 by conventional connection means. In this embodiment, a flange 6 is welded to the upper end of the corrugated pipe 7, and the upper end cover of the fuel tank is connected to the upper end flange 6 of the corrugated pipe 7. The lower end of the corrugated pipe 7 is welded with the lower end cover of the oil tank.
The oil tank further comprises a filter 12, and the filter 12 is fixed on the inner side of the oil tank upper end cover 13 and corresponds to the oil drain port 20. Specifically, the filter 12 can be screwed to the inside of the upper end cover 13 of the oil tank and placed inside the oil tank, making full use of the unusable parts of the compressed oil tank of the corrugated pipe 7.
The check valve 15 may be embedded in the upper end cap 3. Specifically, a threaded hole is formed in the pressure-resistant upper end cover 3, and the check valve 15 is screwed into the threaded hole and sealed by a conical surface. The check valve 15 is embedded, so that the whole structure is more compact.
In order to protect the leather bag 2, the leather bag protection cover 1 is also included, and the leather bag protection cover 1 is arranged on the periphery of the leather bag 2.
In order to ensure the tightness of the oil tank, a molded sealing ring is arranged on the end surface between the upper end cover of the oil tank and the flange 6.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral combinations thereof; may be an electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, system, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, systems, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (10)
1. A buoyancy adjusting device is characterized by comprising a leather bag (2), an oil tank and a hydraulic oil way;
the oil tank comprises an oil tank end cover and a corrugated pipe (7), the corrugated pipe (7) is of a cylindrical structure with an upper opening and a lower opening, the oil tank end cover comprises an oil tank upper end cover (13) and an oil tank lower end cover (8), the oil tank lower end cover (8) is fixed at the lower end of the corrugated pipe (7) to seal the lower end opening of the corrugated pipe, and the oil tank upper end cover (13) is detachably connected to the upper end of the corrugated pipe (7) to seal the upper end opening of the corrugated pipe; an oil return port (21), an oil discharge port (20) and an exhaust hole (16) are respectively formed in the oil tank end cover;
the hydraulic oil circuit comprises an oil discharge pipe and an oil return pipe (5), one end of the oil discharge pipe is connected with an oil discharge port (20) of the oil tank, and the other end of the oil discharge pipe is connected with an oil inlet of the leather bag (2); one end of the oil return pipe (5) is connected with an oil return port (21) of the oil tank, and the other end of the oil return pipe is connected with an oil outlet of the leather bag (2); and a gear pump (14) and a one-way valve (15) are installed on the oil discharge pipe, and an electromagnetic valve (4) is installed on the oil return pipe (5).
2. The buoyancy regulating device according to claim 1, characterized in that the oil tank and the hydraulic oil circuit are arranged in a closed space, and the bladder (2) is arranged outside the closed space.
3. The buoyancy regulating device according to claim 2, wherein the closed space comprises a pressure casing (10), a pressure upper end cover (3) and a pressure lower end cover (9), the pressure casing (10) is a cylindrical structure with two open ends, and the pressure upper end cover (3) and the pressure lower end cover (9) are respectively sealed at two ends of the pressure casing (10).
4. A buoyancy regulating device according to claim 3, characterized in that the bladder (2) is fixed to the upper pressure resistant end cap (3).
5. The buoyancy regulating device according to claim 1, further comprising a bladder protection cover (1), the bladder protection cover (1) being provided at the outer periphery of the bladder (2).
6. The buoyancy regulating device according to claim 1, further comprising a filter (12), the filter (12) being fixed to an inner side of the upper end cover (13) of the tank and corresponding to the oil drain port (20).
7. A buoyancy regulating device according to claim 3, characterized in that the non-return valve (15) is embedded in the upper pressure resistant end cover (3).
8. The buoyancy regulating device according to claim 1, characterized in that the bellows (7) is a metal bellows (7).
9. The buoyancy regulating device according to claim 8, further comprising a guide mechanism, wherein the guide mechanism comprises a guide rod (11) and a guide sleeve (19), the guide sleeve (19) is fixedly arranged on the lower end cover (8) of the oil tank, the upper end of the guide rod (11) is fixedly connected with the upper end cover (13) of the oil tank, and the lower end of the guide rod penetrates through the guide sleeve (19) and is in sliding fit with the guide sleeve (19).
10. The buoyancy regulating device according to claim 9, characterized in that the guiding mechanism further comprises a guiding stop ring (18), and the guiding stop ring (18) is sleeved on the guiding rod (11) and is positioned on one side of the lower end cover (8) of the oil tank, which is opposite to the upper end cover (13) of the oil tank.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202021671152.1U CN212766697U (en) | 2020-08-12 | 2020-08-12 | Buoyancy adjusting device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202021671152.1U CN212766697U (en) | 2020-08-12 | 2020-08-12 | Buoyancy adjusting device |
Publications (1)
Publication Number | Publication Date |
---|---|
CN212766697U true CN212766697U (en) | 2021-03-23 |
Family
ID=75052221
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202021671152.1U Active CN212766697U (en) | 2020-08-12 | 2020-08-12 | Buoyancy adjusting device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN212766697U (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113200135A (en) * | 2021-06-10 | 2021-08-03 | 杭州电子科技大学 | Buoyancy adjusting device with emergency floating function and buoyancy adjusting method thereof |
CN114852291A (en) * | 2022-04-02 | 2022-08-05 | 中山大学 | Floating and diving cabin device for ocean corrosive environment |
-
2020
- 2020-08-12 CN CN202021671152.1U patent/CN212766697U/en active Active
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113200135A (en) * | 2021-06-10 | 2021-08-03 | 杭州电子科技大学 | Buoyancy adjusting device with emergency floating function and buoyancy adjusting method thereof |
CN113200135B (en) * | 2021-06-10 | 2022-07-26 | 杭州电子科技大学 | Buoyancy adjusting device with emergency floating function and buoyancy adjusting method thereof |
CN114852291A (en) * | 2022-04-02 | 2022-08-05 | 中山大学 | Floating and diving cabin device for ocean corrosive environment |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN212766697U (en) | Buoyancy adjusting device | |
CN111891322A (en) | Buoyancy adjusting device | |
CN113002742A (en) | Integrated buoyancy system of underwater vehicle | |
CN108974296B (en) | Pneumatic buoyancy adjusting device applied to small portable underwater glider | |
CN108454809B (en) | A kind of automatic buoyancy of double-pump type and attitude regulating mechanism | |
CN107878716B (en) | A kind of buoyancy regulating device based on sea water pump | |
CN110667811A (en) | Outer oil bag formula is glider buoyancy adjusting device under water | |
CN213768930U (en) | Piston type buoyancy regulating hydraulic oil bag | |
CN112249236A (en) | Double-acting booster cylinder type buoyancy adjusting device of deep sea submersible | |
CN115230923B (en) | Deep sea buoyancy regulating valve assembly | |
CN213323622U (en) | Compact buoyancy adjusting device for underwater robot | |
CN205770081U (en) | A kind of leather bag booster-type pressure compensator | |
CN218055583U (en) | Wave propulsion system for unmanned ship | |
CN209025898U (en) | A kind of gas-liquid mixed accumulator | |
CN214875496U (en) | Integrated buoyancy system of underwater vehicle | |
EP3581789B1 (en) | Wave energy electrical power generation | |
CN212766640U (en) | Bellows oil tank | |
CN215707062U (en) | Self-control underwater buoyancy adjusting device and underwater glider | |
US3667415A (en) | Buoyancy control system for deep diving submersibles | |
CN213323623U (en) | Buoyancy adjusting device for large-depth underwater robot | |
CN219668461U (en) | Buoyancy adjusting device for underwater vehicle | |
CN113460275A (en) | Self-control underwater buoyancy adjusting device and underwater glider | |
CN214875491U (en) | Nested type underwater vehicle outer skin bag and mounting structure thereof | |
CN112441198A (en) | Oil tank for adjusting buoyancy of deep sea exploration submersible | |
CN220096613U (en) | Variable buoyancy driving system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
GR01 | Patent grant | ||
GR01 | Patent grant |