CN102649468B - Underwater pneumatic control leather bag type diving equipment - Google Patents
Underwater pneumatic control leather bag type diving equipment Download PDFInfo
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- CN102649468B CN102649468B CN201210159795.1A CN201210159795A CN102649468B CN 102649468 B CN102649468 B CN 102649468B CN 201210159795 A CN201210159795 A CN 201210159795A CN 102649468 B CN102649468 B CN 102649468B
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Abstract
The invention provides underwater pneumatic control leather bag type diving equipment. The equipment comprises a floating body frame, wherein an airbag, a counterweight, a high pressure air bottle, a low pressure air bottle and a valve bin are arranged on the floating body frame; an inflating valve and a deflating valve, an environment pressure lower limit valve, an environment pressure upper limit valve and a pneumatic timer are arranged in the valve bin; the inflating valve and the deflating valve are both connected with the airbag; the deflating valve is connected with the low pressure air bottle; an inflating pipe connected with the inflating valve is connected with the environment pressure lower limit valve; an environment speed direction valve and the environment pressure upper limit valve are mounted on a deflating driving tube connected with the deflating valve; the environment pressure upper limit valve and the environment pressure lower limit valve are connected with the high pressure air bottle; an air inlet end of the pneumatic timer is connected with the high pressure air bottle; and an air outlet end of the pneumatic timer is respectively connected with the environment pressure lower limit valve and the environment speed direction valve. By using the underwater pneumatic control leather bag type diving equipment provided by the invention, because the buoyancy is adjusted by using an inflating and deflating method to control the size of the elastic airbag, the equipment obtains both action executing ability and walking ability. The underwater pneumatic control leather bag type diving equipment provided by the invention has the advantages of simple structure, low manufacturing price and high reliability.
Description
Technical field
The present invention relates to a kind of ocean engineering under-water robot field, particularly the bladder diving outfit of a kind of gas control under water.
Background technology
21 century is called as ocean century, and along with people are to the going deep into of marine resources development, people will be engaged in under-water operation more, therefore also just waits in expectation more convenient, cheapness and the controlled diving thing of failure-free are provided technically.At present, the robot of realizing work drowned mostly adopts and increases ballast dive, abandons ballast floating and adopts electric turbine drives to realize and float and walk and control; Military submarine adopts is that the mode of several metal warehouse setting-out or inflatable drainage realizes its dive or floating, and adopts electric turbo drive mode to realize the control of walking.No matter above-mentioned have a people or unmanned, has cable or without the controlled diving thing of cable, from civilian, consider, its equipment ubiquity all complicated, shortcomings that cost is high of structure and operation, is difficult to obtain the civilian popularization of ubiquity.
Summary of the invention
The technical problem to be solved in the present invention is for the deficiencies in the prior art, has proposed a kind of simple in structure, cheap, bladder diving outfit of gas control under water that reliability is high.
The technical problem to be solved in the present invention is achieved through the following technical solutions, the bladder diving outfit of a kind of gas control under water, be characterized in: comprise buoyancy aid framework, on buoyancy aid framework, be provided with air bag, counterweight, high-pressure gas bottle, low pressure gas cylinder and valve storehouse, in valve storehouse, be provided with the charge valve and the blow off valve that are connected with air bag, ambient pressure valve, and Pneumatic timer device, ambient pressure valve comprises ambient pressure lower limit valve and ambient pressure upper limit valve, blow off valve joins by low pressure gas cylinder connection pipe and low pressure gas cylinder, the appendix and the ambient pressure lower limit valve that join with charge valve join, the exhaust gas drive pipe and the ambient pressure upper limit valve that join with blow off valve join, on the exhaust gas drive pipe between blow off valve and ambient pressure upper limit valve, environment velocity reversal valve is housed, ambient pressure upper limit valve and ambient pressure lower limit valve join by high-pressure gas bottle connection pipe and high-pressure gas bottle, inlet end and the high-pressure gas bottle of Pneumatic timer device join, the outlet side of Pneumatic timer device joins with the valve rod actuator chamber of ambient pressure lower limit valve and the valve rod actuator chamber of environment velocity reversal valve respectively, ambient pressure valve comprises the diaphragm pressurized compartment being located on valve body, and diaphragm pressurized compartment is provided with pressure-sensitive diaphragm, by pressure-sensitive diaphragm, accepts to realize the unlatching to spool from external pressure under water, environment velocity reversal valve comprises the rapidity bowl that is located at valve body top, and the pressure bringing by the rising of rapidity bowl environment of accepting velocity reversal valve is realized the unlatching to spool.
The technical problem to be solved in the present invention is to come by the following technical programs further to realize, in the valve body of described ambient pressure valve, be provided with inlet chamber and discharge chamber, between inlet chamber and discharge chamber, be provided with valve seat, in discharge chamber, be provided with the spool coordinating with valve seat, spool place is provided with pressure spring, in inlet chamber, be provided with the valve rod joining with spool, on the outer wall of inlet chamber, be provided with diaphragm pressurized compartment, the outer end of described valve rod is arranged in diaphragm pressurized compartment, diaphragm pressurized compartment is provided with the pressure-sensitive diaphragm coordinating with valve rod termination, on the valve rod of inlet chamber, piston is housed, between piston and the outer wall of inlet chamber, form the valve rod actuator chamber of described ambient pressure valve.
The technical problem to be solved in the present invention is to come by the following technical programs further to realize, in the valve body of described environment velocity reversal valve, be provided with discharge chamber and lower inlet chamber, between lower inlet chamber and upper discharge chamber, be provided with middle valve seat and the bottom spool cooperatively interacting, bottom spool is arranged in lower inlet chamber, between the inwall of bottom spool and lower inlet chamber, be provided with regulating spring, on the top of upper discharge chamber, be provided with rapidity bowl, the bottom of rapidity bowl joins by valve rod and bottom spool, and the valve rod actuator chamber of environment velocity reversal valve is arranged in lower inlet chamber.
The present invention compared with prior art, adopts to carry high and low pressure gas cylinder and by filling or exhaust mode is controlled elastic bag volume, and then regulates the bladder pneumatic diving outfit of gas control under water of buoyancy, the ability that equipment is had perform an action and walk.Have advantages of simple in structure, cheap and reliability is high, have obvious civilian promotion potential, it is a kind of brand new technical, the method and apparatus in under-water robot field in ocean engineering.
Adopt in addition the control method of pure gas control, realize dive, floating and the unsteady positioning control of buoyancy aid, control method is simple, reliable, during work, without electromagnetic signal, produces, and avoids electromagnetism detecting under water essence basis is provided for equipment.If adopt solenoid electric valve and electrical signal detection element on equipment, just can adopt computing machine to carry out more flexible and high-precision control to it.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present invention.
Fig. 2 is the schematic diagram of ambient pressure valve.
Fig. 3 is the schematic diagram of environment velocity reversal valve.
The specific embodiment
The bladder diving outfit of a kind of gas control under water, comprise buoyancy aid framework, on buoyancy aid framework, be provided with air bag 3, counterweight, high-pressure gas bottle 1, low pressure gas cylinder 2 and valve storehouse, in valve storehouse, be provided with the charge valve 4 and the blow off valve 5 that are connected with air bag, ambient pressure valve, and Pneumatic timer device 8, ambient pressure valve comprises ambient pressure lower limit valve 9 and ambient pressure upper limit valve 7, blow off valve 5 joins by low pressure gas cylinder connection pipe 10 and low pressure gas cylinder 2, the appendix 13 joining with charge valve 4 joins with ambient pressure lower limit valve 9, the exhaust gas drive pipe 14 joining with blow off valve 5 joins with ambient pressure upper limit valve 7, on the exhaust gas drive pipe 14 between blow off valve 5 and ambient pressure upper limit valve 7, environment velocity reversal valve 6 is housed, ambient pressure upper limit valve 7 joins by high-pressure gas bottle connection pipe 11 and high-pressure gas bottle 1 with ambient pressure lower limit valve 9, the inlet end of Pneumatic timer device 8 and high-pressure gas bottle 1 join, the outlet side of Pneumatic timer device 8 joins with the valve rod actuator chamber of ambient pressure lower limit valve 9 and the valve rod actuator chamber of environment velocity reversal valve 6 respectively, charge valve 4 joins by airbag inflation pipe 12 and air bag.
Ambient pressure valve comprises the diaphragm pressurized compartment being located on valve body, and diaphragm pressurized compartment is provided with pressure-sensitive diaphragm, by pressure-sensitive diaphragm, accepts to realize the unlatching to spool from external pressure under water; Environment velocity reversal valve comprises the rapidity bowl that is located at valve body top, and the pressure bringing by the rising of rapidity bowl environment of accepting velocity reversal valve is realized the unlatching to spool
In the valve body of described ambient pressure valve, be provided with inlet chamber 18 and discharge chamber 19, between inlet chamber 18 and discharge chamber 19, be provided with valve seat, in discharge chamber 19, be provided with the spool coordinating with valve seat, spool place is provided with pressure spring 20, in inlet chamber 18, be provided with the valve rod 17 joining with spool, on the outer wall of inlet chamber 18, be provided with diaphragm pressurized compartment, the outer end of described valve rod is arranged in diaphragm pressurized compartment, diaphragm pressurized compartment is provided with the pressure-sensitive diaphragm 16 coordinating with valve rod termination, on the valve rod of inlet chamber 18, piston is housed, between piston and the outer wall of inlet chamber, form the valve rod actuator chamber of described ambient pressure valve.Valve rod actuator chamber is provided with outlet side with Pneumatic timer device 8 admission port 15 that joins.The valve of ambient pressure shown in figure is a kind of embodiment wherein just, so long as realize the unlatching of spool all within protection scope of the present invention by pressure-sensitive diaphragm.
In the valve body of described environment velocity reversal valve 6, be provided with discharge chamber 23 and lower inlet chamber 24, between lower inlet chamber 24 and upper discharge chamber 23, be provided with middle valve seat and the bottom spool cooperatively interacting, bottom spool is arranged in lower inlet chamber 24, between the inwall of bottom spool and lower inlet chamber, be provided with regulating spring 25, on the top of upper discharge chamber, be provided with rapidity bowl 22, the bottom of rapidity bowl 22 joins by valve rod 21 and bottom spool.The velocity reversal of environment shown in figure valve is a kind of embodiment wherein just, so long as realize the unlatching of spool all within protection scope of the present invention by rapidity bowl.
The valve rod actuator chamber of environment velocity reversal valve is arranged in lower inlet chamber 24.In lower inlet chamber 24, be provided with the piston joining with bottom spool, between piston and the outer wall of lower inlet chamber, form the valve rod actuator chamber of described environment velocity reversal valve.The valve rod actuator chamber of environment velocity reversal valve is provided with the lower admission port 26 that the outlet side with Pneumatic timer device 8 joins.
Before dive, to each control cock be resetted by the manual switch valve being arranged on each pipeline, ambient pressure lower limit valve 9 is set submerged depth lower limit by pressure spring, ambient pressure upper limit valve 7 is set the submerged depth upper limit by pressure spring, Pneumatic timer valve 8 is set timing working time by switch, make air bag 3 in not filling high pressure gas state, suitable counterweight is added in each counterweight cabin, the counterweight of increase will make diving outfit under this state, lose constraint just can dive.In the dive stage, effect of water pressure is on the pressure-sensitive diaphragm of ambient pressure upper limit valve 7 and ambient pressure lower limit valve 9, and after reaching the pressure of valve spring setting, diaphragm overcomes pressure spring application force by valve rod, and spool is opened.Due to 7 settings of ambient pressure upper limit valve are diving depth upper limits, therefore first it be opened, but owing to being connected on environment velocity reversal valve 6 on exhaust gas drive pipe 14 in company with equipment dive, therefore respond in the environment velocity reversal valve 6 of equipment moving direction and be not opened, therefore in equipment dive for the first time to not exhaust of air bag in limited time on diving depth, equipment still continues dive.When the low pressure limit of ambient pressure lower limit valve 9 settings is arrived in dive, now arrival equipment is set latent dark, ambient pressure lower limit valve 9 is opened, pressure gas in high-pressure gas bottle 1 is by appendix 13, act on charge valve 4 and open it as airbag aeration, after airbag aeration, volume increases, the buoyancy of equipment increases, after buoyancy is increased to a certain degree, start floating, along with reducing ambient pressure lower limit valve 9, the degree of depth will be closed, but equipment still floats under effect of inertia, now environment velocity reversal valve 6 senses that speed is upwards opened, ambient pressure upper limit valve 7 is in the open mode below the environment degree of depth of its setting, therefore in actual gas replenishment process, as long as floating starts, environment velocity reversal valve 6 senses that speed upwards will open, the process of exhaust minimizing buoyancy just starts, therefore equipment will be controlled on the latent dark lower limit and the dynamic position between the upper limit of setting, realized positioning control under the liquid of equipment, its positioning control accuracy mainly depends on the weight of equipment and the control accuracy of ambient pressure upper limit valve 7 and ambient pressure lower limit valve 9 and environment velocity reversal valve 6.When before dive, definite work-hours has arrived, Pneumatic timer device 8 is opened and is provided pressurized air, compressed air-driven ambient pressure lower limit valve 9 is opened for airbag aeration, and provide gas to environment velocity reversal valve 6, the crack force being brought to overcome ascending velocity, environment velocity reversal valve 6 is closed, not exhaust of air bag, and equipment returns to liquid level under the effect of buoyancy.
Claims (3)
1. the bladder diving outfit of gas control under water, it is characterized in that: comprise buoyancy aid framework, on buoyancy aid framework, be provided with air bag, counterweight, high-pressure gas bottle, low pressure gas cylinder and valve storehouse, in valve storehouse, be provided with the charge valve and the blow off valve that are connected with air bag, ambient pressure valve, and Pneumatic timer device, ambient pressure valve comprises ambient pressure lower limit valve and ambient pressure upper limit valve, blow off valve joins by low pressure gas cylinder connection pipe and low pressure gas cylinder, the appendix and the ambient pressure lower limit valve that join with charge valve join, the exhaust gas drive pipe and the ambient pressure upper limit valve that join with blow off valve join, on the exhaust gas drive pipe between blow off valve and ambient pressure upper limit valve, environment velocity reversal valve is housed, ambient pressure upper limit valve and ambient pressure lower limit valve join by high-pressure gas bottle connection pipe and high-pressure gas bottle, inlet end and the high-pressure gas bottle of Pneumatic timer device join, the outlet side of Pneumatic timer device joins with the valve rod actuator chamber of ambient pressure lower limit valve and the valve rod actuator chamber of environment velocity reversal valve respectively, ambient pressure valve comprises the diaphragm pressurized compartment being located on valve body, and diaphragm pressurized compartment is provided with pressure-sensitive diaphragm, by pressure-sensitive diaphragm, accepts to realize the unlatching to spool from external pressure under water, environment velocity reversal valve comprises the rapidity bowl that is located at valve body top, and the pressure bringing by the rising of rapidity bowl environment of accepting velocity reversal valve is realized the unlatching to spool.
2. the bladder diving outfit of gas control under water according to claim 1, it is characterized in that: in the valve body of described ambient pressure valve, be provided with inlet chamber and discharge chamber, between inlet chamber and discharge chamber, be provided with valve seat, in discharge chamber, be provided with the spool coordinating with valve seat, spool place is provided with pressure spring, in inlet chamber, be provided with the valve rod joining with spool, on the outer wall of inlet chamber, be provided with diaphragm pressurized compartment, the outer end of described valve rod is arranged in diaphragm pressurized compartment, diaphragm pressurized compartment is provided with the pressure-sensitive diaphragm coordinating with valve rod termination, on the valve rod of inlet chamber, piston is housed, between piston and the outer wall of inlet chamber, form the valve rod actuator chamber of described ambient pressure valve.
3. the bladder diving outfit of gas control under water according to claim 1, it is characterized in that: in the valve body of described environment velocity reversal valve, be provided with discharge chamber and lower inlet chamber, between lower inlet chamber and upper discharge chamber, be provided with middle valve seat and the bottom spool cooperatively interacting, bottom spool is arranged in lower inlet chamber, between the inwall of bottom spool and lower inlet chamber, be provided with regulating spring, on the top of upper discharge chamber, be provided with rapidity bowl, the bottom of rapidity bowl joins by valve rod and bottom spool, and the valve rod actuator chamber of environment velocity reversal valve is arranged in lower inlet chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210159795.1A CN102649468B (en) | 2012-05-22 | 2012-05-22 | Underwater pneumatic control leather bag type diving equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210159795.1A CN102649468B (en) | 2012-05-22 | 2012-05-22 | Underwater pneumatic control leather bag type diving equipment |
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| Publication Number | Publication Date |
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| CN102649468A CN102649468A (en) | 2012-08-29 |
| CN102649468B true CN102649468B (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210159795.1A Expired - Fee Related CN102649468B (en) | 2012-05-22 | 2012-05-22 | Underwater pneumatic control leather bag type diving equipment |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425082B (en) * | 2013-08-28 | 2016-02-17 | 北京理工大学 | A kind of control system for gasbag-type underwater fixed depth levitation device |
| CN109850102A (en) * | 2019-03-29 | 2019-06-07 | 中国工程物理研究院总体工程研究所 | Multistage gas cylinder structure and inflation levitating device |
| CN111252223A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Emergency floating device of underwater robot |
| CN113879489A (en) * | 2021-10-14 | 2022-01-04 | 哈尔滨工程大学 | Navigation body is gone into water and is ventilated come-up equipment |
| CN114715361A (en) * | 2022-03-31 | 2022-07-08 | 中国科学技术大学 | Wearable auxiliary robot under water |
Citations (8)
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|---|---|---|---|---|
| US3601827A (en) * | 1968-12-16 | 1971-08-31 | Us Navy | Self-contained underwater buoyancy system |
| EP0351339A1 (en) * | 1988-07-15 | 1990-01-17 | Gilles A . Grosso | Method and devices for keeping the gas contained in a submerged enclosure in balance with the outside pressure |
| CN2232394Y (en) * | 1995-08-08 | 1996-08-07 | 于建家 | Soft salvaging float for underwater sunken vessel |
| CN2253716Y (en) * | 1995-06-18 | 1997-05-07 | 毛术平 | Device for self life saving in water |
| CN2424106Y (en) * | 2000-03-30 | 2001-03-21 | 宋开辉 | Air bag for salvaging sunken ship |
| CN1951762A (en) * | 2006-11-21 | 2007-04-25 | 沈阳工业大学 | Enclosed type electric and hydraulic floating force driving system |
| CN101104437A (en) * | 2007-01-16 | 2008-01-16 | 荣斌 | Hidden lifejacket |
| CN202080424U (en) * | 2011-04-13 | 2011-12-21 | 浙江大学 | Driving device of an underwater aerodone buoyancy adjusting mechanism |
-
2012
- 2012-05-22 CN CN201210159795.1A patent/CN102649468B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3601827A (en) * | 1968-12-16 | 1971-08-31 | Us Navy | Self-contained underwater buoyancy system |
| EP0351339A1 (en) * | 1988-07-15 | 1990-01-17 | Gilles A . Grosso | Method and devices for keeping the gas contained in a submerged enclosure in balance with the outside pressure |
| CN2253716Y (en) * | 1995-06-18 | 1997-05-07 | 毛术平 | Device for self life saving in water |
| CN2232394Y (en) * | 1995-08-08 | 1996-08-07 | 于建家 | Soft salvaging float for underwater sunken vessel |
| CN2424106Y (en) * | 2000-03-30 | 2001-03-21 | 宋开辉 | Air bag for salvaging sunken ship |
| CN1951762A (en) * | 2006-11-21 | 2007-04-25 | 沈阳工业大学 | Enclosed type electric and hydraulic floating force driving system |
| CN101104437A (en) * | 2007-01-16 | 2008-01-16 | 荣斌 | Hidden lifejacket |
| CN202080424U (en) * | 2011-04-13 | 2011-12-21 | 浙江大学 | Driving device of an underwater aerodone buoyancy adjusting mechanism |
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| CN102649468A (en) | 2012-08-29 |
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Granted publication date: 20140903 Termination date: 20170522 |