CN102501955A - Buoyancy driving device of deep-sea underwater glider - Google Patents

Buoyancy driving device of deep-sea underwater glider Download PDF

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Publication number
CN102501955A
CN102501955A CN2011103299331A CN201110329933A CN102501955A CN 102501955 A CN102501955 A CN 102501955A CN 2011103299331 A CN2011103299331 A CN 2011103299331A CN 201110329933 A CN201110329933 A CN 201110329933A CN 102501955 A CN102501955 A CN 102501955A
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CN
China
Prior art keywords
shell
oil
deep
pressure
sea
Prior art date
Application number
CN2011103299331A
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Chinese (zh)
Inventor
王树新
刘方
王延辉
孙秀军
何志纲
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天津大学
Priority date (The priority date 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 date listed.)
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Publication date
Priority to CN201120314377 priority Critical
Priority to CN201120314377.6 priority
Application filed by 天津大学 filed Critical 天津大学
Priority to CN2011103299331A priority patent/CN102501955A/en
Publication of CN102501955A publication Critical patent/CN102501955A/en

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Abstract

The invention discloses a buoyancy driving device of a deep-sea underwater glider, which comprises an oil tank, a high-pressure plunger pump, a gear pump and a normally closed electromagnetic valve. The oil tank is mounted in a pressure-resistant shell and consists of a shell fixedly connected with the pressure-resistant shell, a corrugated pipe type leather sac is mounted in the shell, one end of the corrugated tube type leather sac is hermetically fixedly connected with the bottom end of the shell, the other end of the corrugated tube type leather sac is hermetically fixedly connected with a movable end cover, the movable end cover is slidably connected into the shell, an end cover photoelectric sensor and a top end photoelectric sensor are mounted on the shell, an oil outlet of the oil tank is connected with an oil inlet of the gear pump, an oil outlet of the gear pump is connected with an oil inlet of the high-pressure plunger pump, an oil outlet of the high-pressure plunger pump is connected with an oil inlet of an outer oil sac, the oil outlet of the gear pump is connected with an oil inlet of the oil tank by a check valve communicated with the gear pump, and an oil outlet of the outer oil sac is connected with the oil inlet of the oil tank by the normally closed electromagnetic valve. By the aid of the buoyancy driving device, underwater gliders can run in the deep sea, and requirements on deep-sea operation for a long time and at high depth are met.

Description

Deep-sea underwater glider floatage actuating device

Technical field

The present invention relates to a kind of actuating device, particularly relate to a kind of deep-sea underwater glider floatage actuating device.

Background technology

The under-water self-navigation device (AUV) that is used for ocean wave parameter monitoring, marine life and ecological observation, weather and Meteorological Services at present adopts the screw propeller propulsion mode mostly; Receive energy restriction serious; Voyage is very short, generally arrives the hundreds of kilometer at several kilometers, and maximum is no more than 1000 kilometers; Production time is limited, is generally several hours to tens hours.A kind of novel underwater kit that underwater glider occurred as 20 end of the centurys, gravity and the buoyancy with object is converted into advancing drive power dexterously, only provides energy seldom can realize long sequential and great depth operation.Underwater glider floatage device most of piston that adopts stepping motor to drive hydraulic actuating cylinder in shallow sea moves reciprocatingly; Thereby make the fluid sucking-off or discharge oil sac; Receive condition restriction such as stepping motor power and hydraulic cylinder sealing; Its working depth generally is no more than 200m, is difficult to deep-sea (surpassing 1000m) development.

Summary of the invention

The present invention provides a kind of deep-sea underwater glider floatage actuating device that can satisfy the long sequential in deep-sea, great depth job requirements for solving the technical matters that exists in the known technology.

The technical scheme that the present invention takes for the technical matters that exists in the solution known technology is: a kind of deep-sea underwater glider floatage actuating device; Comprise pressure shell and be installed in the exterior outer oil sac of said pressure shell, this device also comprises fuel tank, high-pressure plunger pump, gear type pump, the normally closed solenoid valve that is installed in the pressure shell;

Said fuel tank comprises the shell affixed with said pressure shell; The bellows-type leather bag is housed in the said shell; One end of said bellows-type leather bag and the bottom end seal of said shell are affixed; The other end and mobile end cap seal are affixed, and said mobile end cap is slidingly connected in the said shell, and bottom opto-electronic pickup and top opto-electronic pickup are installed on the said shell;

Said fuel tank oil outlet links to each other with said gear type pump oil inlet, and said gear type pump oil outlet links to each other with said high-pressure plunger pump oil inlet, and said high-pressure plunger pump oil outlet links to each other with said outer oil sac oil inlet; The check valve of its conducting of said gear type pump oil outlet warp-wise links to each other with said fuel tank oil inlet; Said outer oil sac oil outlet links to each other with said fuel tank oil inlet through normally closed electromagnetic valve.

Said shell middle part is equipped with the stage casing opto-electronic pickup.

Be provided with end face seal structure between said pressure shell and the said outer oil sac.

Said shell is processed by aluminum alloy.

Advantage and good effect that the present invention has are: adopt high-pressure plunger pump revolution discharge capacity to fix, be equipped with the accuracy control that opto-electronic pickup on the fuel tank can be realized buoyancy; High-pressure plunger pump is aided with the oil-feed of gear type pump realization plunger pump and boosts from the oil suction weak effect, can effectively eliminate air pockets erosion phenomenon, and the assurance high-pressure plunger pump is effectively worked; Be pumped into negative pressure in the pressure shell, oil return is opened the electromagnetic valve path and got final product, and is simple to operate, compact conformation; Check valve oppositely with realizing relief function, prevents the maximum oil-feed flow of the fuel-displaced flow of elementary boost pump greater than high-pressure plunger pump, effectively protects high-pressure plunger pump, compact conformation; The present invention can integral body be integrated in the space of Φ 180mm * 300mm; Maximum working depth can reach 2000m; But the accuracy control buoyancy change makes underwater glider accurately navigate by water according to desired trajectory, realizes that underwater glider develops to the deep-sea; Satisfy the job requirements of the long sequential in deep-sea, great depth, can be widely used in the deep-sea underwater glider of ocean wave parameter remote monitoring, marine biology and ecological observation, weather and Meteorological Services.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a hydraulic schematic diagram of the present invention.

Among the figure: 1, outer oil sac, 2,6, check valve, 3,9, the pump drive motor, 4, high-pressure plunger pump; 5, filter, 7, fuel tank, 8, gear type pump, 10, normally closed solenoid valve; 11, shell, 12, the bottom opto-electronic pickup, 13, the bellows-type leather bag, 14, the stage casing opto-electronic pickup; 15, move end cap, 16, the top opto-electronic pickup, 17, pressure shell, 18, O shape circle.

The specific embodiment

For further understanding summary of the invention of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:

See also Fig. 1~Fig. 2; A kind of deep-sea underwater glider floatage actuating device comprises fuel tank 7, high-pressure plunger pump 4, gear type pump 8, pump drive motor 3,9, filter 5, small-sized normally closed solenoid valve 10, the baby check valve 2,6 that is installed in 17 li of pressure shells and is installed in pressure shell 17 exterior outer oil sacs 1 that hydraulic principle is as shown in Figure 1.Fuel tank 7 comprises shell 11, inner bellows-type leather bag 13, bottom opto-electronic pickup 12, stage casing opto-electronic pickup 14, top opto-electronic pickup 16 and mobile end cap 15.One end of bellows-type leather bag 13 and the bottom end seal of shell 11 are affixed, and 15 sealings of the other end and mobile end cap are affixed, move end cap 15 and are slidingly connected in the shell 11, can sway, realize oil-feed and oil extraction.Above-mentioned shell 11 is processed for aluminum alloy.

Outer oil sac 1 is in pressure shell 17 outsides, outside face and seawater direct contact, and it encloses 18 side seals with pressure shell 17 through O shape and is connected.

Outer oil sac 1 oil inlet links to each other with high-pressure plunger pump 4 oil outlets; High-pressure plunger pump 4 oil inlets link to each other with gear type pump 8 oil outlets; Gear type pump 8 oil inlets link to each other with fuel tank 7 oil outlets; Gear type pump 8 oil outlets link to each other with fuel tank 7 oil inlets through baby check valve 6 and do skimmer circuit, are aided with pump drive motor 3,9 and filter 5, constitute oil-discharging circuit jointly.Outer oil sac 1 oil outlet links to each other with fuel tank 7 oil inlets through small-sized normally closed solenoid valve 10, constitutes the oil-feed loop.

When the underwater glider rig ship for dive, small-sized normally closed solenoid valve 10 is opened, and under the effect of inside and outside differential pressure, hydraulic oil flows to fuel tank 7 from outer oil sac 1.Fluid is on the increase in the fuel tank 7, promotes bellows-type leather bag 13 to the top expansion, and when top opto-electronic pickup 16 detects when moving end cap 15 positions, small-sized normally closed solenoid valve 10 is closed in leather bag 13 arrival desired locations.At this moment, gravity is greater than buoyancy, underwater glider with fixed speed along the dive of zig-zag track.

When underwater glider was prepared come-up, pump drive motor 3,9 drove high-pressure plunger pump 4 and gear type pump 8 work respectively, and hydraulic oil is oil sac 1 outside filter 5 and baby check valve 2 flow into.Pump drive motor code-disc is measured the rotation number of turns of high-pressure plunger pump 4, passes to master control system, multiply by the fixed displacement of high-pressure plunger pump 4 revolutions again, can draw the oil extraction volume.The fluid volume constantly reduces in the fuel tank, makes the bellows-type leather bag shrink, and when bottom opto-electronic pickup 12 detects when moving end cap 15 positions, pump drive motor 3,9 quits work.At this moment, gravity is less than buoyancy, and underwater glider floats along the zig-zag volume with fixed speed.

In the working process, underwater glider can be opened pump drive motor 3,9 or small-sized normally closed solenoid valve 10, regulates the buoyancy size, thereby the athletic posture and the kinematic velocity of adjustment aerodone navigate by water according to desired trajectory.

Although combine accompanying drawing that the preferred embodiments of the present invention are described above; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, is not restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.

Claims (4)

1. a deep-sea underwater glider floatage actuating device comprises pressure shell and is installed in the exterior outer oil sac of said pressure shell, and it is characterized in that, this device also comprises fuel tank, high-pressure plunger pump, gear type pump, the normally closed solenoid valve that is installed in the pressure shell;
Said fuel tank comprises the shell affixed with said pressure shell; The bellows-type leather bag is housed in the said shell; One end of said bellows-type leather bag and the bottom end seal of said shell are affixed; The other end and mobile end cap seal are affixed, and said mobile end cap is slidingly connected in the said shell, and bottom opto-electronic pickup and top opto-electronic pickup are installed on the said shell;
Said fuel tank oil outlet links to each other with said gear type pump oil inlet, and said gear type pump oil outlet links to each other with said high-pressure plunger pump oil inlet, and said high-pressure plunger pump oil outlet links to each other with said outer oil sac oil inlet; The check valve of its conducting of said gear type pump oil outlet warp-wise links to each other with said fuel tank oil inlet; Said outer oil sac oil outlet links to each other with said fuel tank oil inlet through normally closed electromagnetic valve.
2. deep-sea according to claim 1 underwater glider floatage actuating device is characterized in that, said shell middle part is equipped with the stage casing opto-electronic pickup.
3. deep-sea according to claim 1 underwater glider floatage actuating device is characterized in that, is provided with end face seal structure between said pressure shell and the said outer oil sac.
4. deep-sea according to claim 1 underwater glider floatage actuating device is characterized in that said shell is processed by aluminum alloy.
CN2011103299331A 2011-08-24 2011-10-27 Buoyancy driving device of deep-sea underwater glider CN102501955A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201120314377 2011-08-24
CN201120314377.6 2011-08-24
CN2011103299331A CN102501955A (en) 2011-08-24 2011-10-27 Buoyancy driving device of deep-sea underwater glider

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011103299331A CN102501955A (en) 2011-08-24 2011-10-27 Buoyancy driving device of deep-sea underwater glider

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CN102501955A true CN102501955A (en) 2012-06-20

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103350749A (en) * 2013-07-11 2013-10-16 中国船舶重工集团公司第七○二研究所 Energy-saving type residual buoyancy driving device utilizing spring to store energy
CN103452832A (en) * 2013-04-19 2013-12-18 天津深之蓝海洋设备科技有限公司 Buoyancy pump with flexible flanged plunger
CN103496443A (en) * 2013-10-11 2014-01-08 清华大学深圳研究生院 Buoyancy regulating system and method of underwater equipment
CN103612728A (en) * 2013-10-30 2014-03-05 上海交通大学 Underwater three-dimensional detection gliding robot
CN103921918A (en) * 2014-04-22 2014-07-16 中国船舶重工集团公司第七○二研究所 Escape cabin ejecting and pushing device
CN104229105A (en) * 2014-09-18 2014-12-24 青岛远创机器人自动化有限公司 Underwater glider buoyancy driving device
CN105298946A (en) * 2015-11-20 2016-02-03 沈阳航天新光集团有限公司 Buoyancy adjusting device
CN105445430A (en) * 2015-11-30 2016-03-30 天津大学 Hybrid propulsion glider for water quality monitoring
CN106043635A (en) * 2016-06-24 2016-10-26 天津深之蓝海洋设备科技有限公司 Rapid buoyancy adjusting device of underwater glider
CN106741765A (en) * 2017-03-20 2017-05-31 中国科学院沈阳自动化研究所 A kind of underwater robot is with passive oil discharge-type buoyancy regulating device
CN107697251A (en) * 2017-10-09 2018-02-16 西北工业大学 A kind of combination drive buoyancy regulating device for underwater glider
CN109334926A (en) * 2018-10-17 2019-02-15 华中科技大学 A kind of buoyancy regulating system and method for the deep underwater glider in full sea
CN109353478A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of combination drive underwater glider
CN109591988A (en) * 2018-12-27 2019-04-09 中国船舶重工集团公司第七0研究所 A kind of buoyancy-driven device adjusted based on ocean environment parameter

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Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103452832A (en) * 2013-04-19 2013-12-18 天津深之蓝海洋设备科技有限公司 Buoyancy pump with flexible flanged plunger
CN103452832B (en) * 2013-04-19 2015-11-25 天津深之蓝海洋设备科技有限公司 Flexible curled-edge plunger buoyancy pump
CN103350749A (en) * 2013-07-11 2013-10-16 中国船舶重工集团公司第七○二研究所 Energy-saving type residual buoyancy driving device utilizing spring to store energy
CN103350749B (en) * 2013-07-11 2015-07-08 中国船舶重工集团公司第七○二研究所 Energy-saving type residual buoyancy driving device utilizing spring to store energy
CN103496443A (en) * 2013-10-11 2014-01-08 清华大学深圳研究生院 Buoyancy regulating system and method of underwater equipment
CN103496443B (en) * 2013-10-11 2016-01-20 清华大学深圳研究生院 A kind of subsea equipment buoyancy regulating system and method
CN103612728A (en) * 2013-10-30 2014-03-05 上海交通大学 Underwater three-dimensional detection gliding robot
CN103921918A (en) * 2014-04-22 2014-07-16 中国船舶重工集团公司第七○二研究所 Escape cabin ejecting and pushing device
CN104229105A (en) * 2014-09-18 2014-12-24 青岛远创机器人自动化有限公司 Underwater glider buoyancy driving device
CN105298946A (en) * 2015-11-20 2016-02-03 沈阳航天新光集团有限公司 Buoyancy adjusting device
CN105445430A (en) * 2015-11-30 2016-03-30 天津大学 Hybrid propulsion glider for water quality monitoring
CN106043635A (en) * 2016-06-24 2016-10-26 天津深之蓝海洋设备科技有限公司 Rapid buoyancy adjusting device of underwater glider
CN106741765A (en) * 2017-03-20 2017-05-31 中国科学院沈阳自动化研究所 A kind of underwater robot is with passive oil discharge-type buoyancy regulating device
CN107697251A (en) * 2017-10-09 2018-02-16 西北工业大学 A kind of combination drive buoyancy regulating device for underwater glider
CN109353478A (en) * 2018-08-31 2019-02-19 杭州电子科技大学 A kind of combination drive underwater glider
CN109334926A (en) * 2018-10-17 2019-02-15 华中科技大学 A kind of buoyancy regulating system and method for the deep underwater glider in full sea
CN109591988A (en) * 2018-12-27 2019-04-09 中国船舶重工集团公司第七0研究所 A kind of buoyancy-driven device adjusted based on ocean environment parameter
CN109591988B (en) * 2018-12-27 2020-10-30 中国船舶重工集团公司第七一0研究所 Buoyancy driving device based on marine environment parameter adjustment

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Application publication date: 20120620