CN103419914A - Gas bag type underwater depth-control suspension system - Google Patents
Gas bag type underwater depth-control suspension system Download PDFInfo
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- CN103419914A CN103419914A CN2013103805629A CN201310380562A CN103419914A CN 103419914 A CN103419914 A CN 103419914A CN 2013103805629 A CN2013103805629 A CN 2013103805629A CN 201310380562 A CN201310380562 A CN 201310380562A CN 103419914 A CN103419914 A CN 103419914A
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Abstract
The invention relates to a gas bag type underwater depth-control suspension system which is suitable for a carrying platform for underwater operation, and belongs to the field of water suspension appliances. The gas bag type underwater depth-control suspension system comprises an actuator, a depth transducer, a control system and a power supply. The actuator comprises an exhaust device, a gas bag, a gas bag connection accessory and an inflation device, wherein the exhaust device is used for exhausting gas in the gas bag and reducing the buoyancy of a suspension system body, the gas bag is used for providing the buoyancy for the system body, the gas bag connection accessory is used for connecting the gas bag with a shell of the suspension system body, and the inflation device is used for inflating the gas bag and increasing the buoyancy of the suspension system body. The depth transducer is used for measuring the underwater depth of the suspension system in real time and transmitting a depth signal to the control system. The control system is used for receiving and processing the depth signal and then appropriately controlling the actuator to move according to a preset control rule. According to the gas bag type underwater depth-control suspension system, gas is used as buoyancy adjusting media and stored in high-pressure gas cylinders in a compression mode, the gas bag is in a folded state before being inflated, therefore, the suspension system is compact in whole structure, small in size, large in specific gravity, and capable of loading large weight.
Description
Technical field
The present invention relates to a kind of air sac underwater fixed depth suspension system, be applicable to the carrying platform of under-water operation, belong to suspension equipment field in water.
Background technology
In the process to marine resources development, often need implement can be suspended in predetermined depth range under water, this just requires equipment should have underwater fixed depth suspension function.The underwater fixed depth suspension technology all has a very wide range of applications in the civil and military field, as submarine, under-water robot, depthkeeping submarine mine etc.Existing suspension technology is divided into lift usually to be regulated and two kinds of modes of buoyancy adjustment.Lift is regulated and is referred to that the lift that when aerosoles relies on the screw propeller rotation, blade produces comes controlling depth to change.In order to maintain the suspension degree of depth, the work that screw propeller need to continue, this has just caused the energy consumption that aerosoles is higher; Simultaneously, because the lift that blade provides is limited, aerosoles will reduce the proportion of self as far as possible, and this makes the volume of aerosoles larger.Buoyancy adjustment is often usingd sea water pump or oil sac as control apparatus, by the proportion that changes aerosoles self, realizes suspending.Because control apparatus need to overcome extraneous higher hydraulic pressure acting, so the work energy consumption of aerosoles is higher; Simultaneously, in order to realize the adjusting to self proportion, aerosoles requires to have enough reserve buoyancies, and this makes the volume of aerosoles larger.As can be seen here, existing depthkeeping suspension technology generally has the characteristics that energy consumption is large, proportion is little.And limited for volume, than great or carry the subsea equipment of limited energy, existing suspension technology can not meet the requirement that its depthkeeping suspends.
Summary of the invention
The objective of the invention is that existing depthkeeping levitation device reserve buoyance is large, higher, the bulky technical matters of work energy consumption in order to solve.The invention discloses a kind of air sac underwater fixed depth suspension system, but have the free setting suspension depth of water, simple in structure, the work energy consumption is lower, the advantage such as volume is little.
The objective of the invention is to be achieved through the following technical solutions.
A kind of air sac underwater fixed depth suspension system, comprise actuating unit, depth transducer, control system and power supply.
Described actuating unit comprises exhaust gear, air bag, air bag coupling and gas filled device.
Described exhaust gear, for the gas in air bag is discharged to extraneous waters, reduces the air bag volume, thereby reduces system buoyancy.Described exhaust gear is a kind of motor-driven air valve, and by valve gap, valve body, valve core spring, spool, rubber cushion, motor, train of reduction gears, gear, tooth bar, tooth bar spring form.
Valve gap is connected in the opening part of air bag, and the lower end of valve gap is with flange;
Spool is placed in valve gap inside, and spool top is fixedly connected with valve core spring; Rubber cushion is adhered to the lower end surface place of spool;
Valve body is positioned at inside air bag, and the first half of valve body is flanged tubular structure, and the tubular portion of valve body is corresponding with valve gap to be threaded, and the flange of valve body and the flange of valve gap clamp the edge of opening of air bag by seal ring;
The latter half of valve body is slab construction, for parts such as mounted motors; Have chute on flat board, chute is corresponding with the center of spool; Motor is installed on the flat board of valve body, and the rotating shaft of motor is connected with train of reduction gears, and the output shaft of train of reduction gears is connected with gear, the wheel and rack engagement, tooth bar is installed in the chute of valve body, and an end of tooth bar points to the center of rubber cushion, and the other end is connected with the tooth bar spring; The tooth bar spring is fixedly connected on dull and stereotyped bottom.
Train of reduction gears is amplified the moment of torsion of motor output; By the cooperation of rack-and-gear, rotation is converted to the closure or openness that straight-line motion promotes spool again.
The initial condition of exhaust gear is exhaust condition not, and now rubber cushion is subject to the effect of valve core spring elastic force, seals the exhausr port of valve body; During exhaust, motor continues forward, and tooth bar promotes rubber cushion and separates the beginning exhaust with the exhausr port of valve body; While stopping exhaust, after motor reversal, stop, tooth bar is return, and rubber cushion is subject to the effect of valve core spring elastic force, seals the exhausr port of valve body; When the air pressure in air bag is excessive, gas will overcome the elastic force of valve core spring, promote the rubber cushion unlatching and carry out exhaust pressure relief.The effect of tooth bar spring is the positive engagement that guarantees wheel and rack.
Described air bag is used to system that buoyancy is provided.
Described air bag coupling is connected for air bag and suspension system housing.Described air bag coupling comprises clamping sleeve and air bag joint, and clamping sleeve is the tubular structure of an end with flange, and clamping sleeve is positioned at the inside of air bag; The air bag joint is cyclic structure, and the air bag joint is connected in the opening part of air bag below; Corresponding being threaded of inside face of the tubular portion of clamping sleeve and air bag joint, the upper surface of the flange portion of clamping sleeve and air bag joint clamps the edge at air bag lower opening place by seal ring.The outside face of air bag joint is fixedly connected with the housing of gas filled device outside.
Described gas filled device, for to airbag aeration, increases the air bag volume, increases suspension system buoyancy.Gas filled device comprises high-pressure gas bottle and corresponding bottle opener thereof, and described bottle opener is comprised of firing pin base, firing pin pipe, electric igniter and firing pin; The firing pin base is loop configuration, and firing pin base lower surface has some circular hole slots, and the hole slot bottom has aperture; The firing pin base is positioned at the below of air bag joint, by the air bag joint, is fixed; The firing pin pipe is tubular structure, on the lower end sidewall of firing pin pipe, has pore; The top of firing pin pipe inside is equipped with electric igniter, and the electric igniter below is connected with firing pin; High-pressure gas bottle is fixed in the lower end of firing pin pipe; The firing pin pipe is threaded with the hole slot of firing pin base; The lead-in wire of electric igniter is drawn from the aperture of the hole slot bottom of firing pin base.
When electric igniter detonates, the gaseous product of generation drives the firing pin motion, punctures the closure diaphragm of high-pressure gas bottle, makes high pressure gas discharge and be full of air bag rapidly.
Gas filled device, depth transducer from top to bottom are connected successively with control system.Power supply is positioned at the control system both sides, and being used for provides stable electric energy for the normal operation of system.
Described depth transducer is used for measuring in real time the degree of depth under water at suspension system place, and depth signal is sent to control system.Described depth transducer can adopt pressure transformer.
The effect of described control system is to receive and process depth signal, then according to predetermined control law, handles the actuating unit action in good time.
Described control system comprises voltage transformation module, signal processing module, control module and four parts of external drive module.Lead-in wire on control system joins with the lead-in wire of power supply, depth transducer, electric igniter and motor respectively.
The depth signal that depth transducer detects is transferred to control module after signal processing module is processed, control module is controlled voltage signal according to the control rules of depth signal and setting, control voltage signal through the external drive resume module, be transferred to gas filled device or exhaust gear in actuating unit, gas filled device or exhaust gear have started immediately inflation or the exhaust to air bag under the driving of controlling voltage signal, thereby realize the suspension of underwater fixed depth levitation device set depth in water.
Described voltage transformation module is the required operating voltage of circuit for the voltage transitions that power supply is provided.
The 0-3.3V signal that the function of described signal processing module can be changed for the A/D module that the depth signal of 0-5V is treated to digital signal processor DSP carries out the filtering noise reduction process to signal simultaneously, guarantees the reliability of incoming signal.Described signal processing module is exported to control module by the signal after processing.Described signal processing module passes through the realization of core signal treatment circuit, and described core signal treatment circuit comprises signal picker P1, resistance R 1, resistance R 2, integrated transporting discharging U1A, resistance R 3, capacitor C 1; Signal picker P1 receives the depth of water processing signals of depth transducer output, signal picker port G1 connects in analog, connect+12V of port G2 power supply, port G3 is connected with resistance R 1, resistance R 1 is connected with integrated transporting discharging U1A is anodal, and resistance R 1 connects digitally by resistance R 2, and resistance R 1 is 2:3 with the resistance proportionate relationship of resistance R 2, the signal output part of integrated transporting discharging U1A connects digitally by resistance R 3 and capacitor C 1, and the negative pole of integrated transporting discharging U1A is connected with the mouth of integrated transporting discharging U1A; Resistance R 3 right-hand members connect output signal, and this output signal is exported to control module.
The function of described control module is processed calculating for inputting depth signal, generates 0-3.3V and controls voltage signal, and will control voltage signal and export to the external drive module.Described control module realizes by digital signal processor DSP U2, comprises the pin G174 that connects incoming signal, meets the pin G31 of Vcc power supply, pin G69, pin G64, pin G81, pin G114, pin G145, meet the pin G23 of 1.8V power supply, pin G37, pin G56, pin G75, pin G100, pin G112, pin G128, pin G143, pin G154, pin G162, meet the pin G1 of 3.3V power supply, pin G13, pin G14, pin G166, pin G159 is connected with Vcc by resistance R 4, pin G140 is connected with Vcc by resistance R 5, and pin G76 passes through capacitor C 2 and is connected in analog, and pin G77 passes through capacitor C 3 and is connected in analog, pin G76 is connected with pin G77 by crystal oscillator Y1, pin G10 passes through capacitor C 4 and digitally is connected, and pin G11 passes through capacitor C 5 and digitally is connected, and pin G16 passes through resistance R 6 and digitally is connected, pin G175 passes through resistance R 10 and digitally is connected, and meets the pin G45 of output signal, pin G46, pin G47, pin G48, pin G92, pin G93, pin G94, pin G95, the pin of output signal is connected with the external drive module, and output port quantity is determined according to the quantity of gas cylinder and motor.
Described external drive module comprises signal amplification module, motor drive module and electric igniter driver module; The weak signal that described signal amplification module sends control module is converted into the strong signal of controlling motor drive module and electric igniter driver module, and strong signal refers to that voltage is not less than the electric signal of 5V.The signal amplification module comprises bus transceiver U3, and bus transceiver U3 receives the incoming signal of control module, and bus transceiver U3 outputs signal to motor drive module and electric igniter driver module.Motor drive module is realized by miniature motor drive integrated circult U4, miniature motor drive integrated circult U4 comprises pin G2, pin G7, pin G2, pin G7, for receiving the drive and control of electric machine signal of bus transceiver (U3) input, also comprise the pin G3, the pin G6 that connect the motor both positive and negative polarity.The voltage at miniature motor drive integrated circult U4 pin G3, pin G6 two ends is exported to exhaust gear as control signal.The electric igniter driver module is comprised of the electric igniter driving circuit, and the quantity of electric igniter driving circuit is determined by the quantity of gas cylinder, and single electric igniter driving circuit comprises resistance R 8, capacitor C 6, resistance R 9, aerotron Q1, resistance R 10.Resistance R 8 left ends connect the electric igniter drive control signal of bus transceiver U3 input, resistance R 8 right-hand members connect the base stage of aerotron Q1, the Q1 base stage is by the circuit parallel ground connection be comprised of capacitor C 6 and resistance R 9, the direct ground connection of the emitter of aerotron Q1, the collecting electrode of aerotron Q1 is by connect+5V of resistance R 10.The voltage at resistance R 10 two ends is exported to gas filled device as control signal.
A kind of air sac underwater fixed depth levitation device working process of the present invention is:
At first the depthkeeping scope of suspension system is set.The concrete setting allows the unsteady degree of depth upper limit and the degree of depth lower limit of suspension system.
After suspension system enters water, depth transducer is sent to control system in real time by the depth signal of perception; Control system is processed depth signal, then according to the suspension depth requirements of setting and according to control method in good time to the actuating unit sending controling instruction.
Control method is as follows:
When reaching under the degree of depth, the suspension system dive prescribes a time limit, gas filled device starts, electric igniter in one group of bottle opener detonates, firing pin punctures corresponding high-pressure gas bottle, discharge gas and be full of air bag, now the buoyancy of suspension system reaches maximum, and suspension system is slowed down immediately, and stopping gradually dive, suspension system starts floating subsequently;
In the floating starting stage, suspension system is controlled immediately exhaust gear and is carried out exhaust for the first time, after exhaust the surplus buoyancy of suspension system with self be subject to the resistance balance of water, suspension system at the uniform velocity floats slowly.
When the floating degree of depth reaches on the degree of depth in limited time, suspension system is carried out exhaust for the second time, after exhaust finishes, suspension system under the negative lift effect, the then slowly dive of slowing down gradually.
When suspension system again dive reach under depthkeeping in limited time, gas filled device starts another group bottle opener, suspension system repeats above action afterwards, realizes the suspended motion of suspension system on the set depth scope.
After last group bottle opener starts, system is no longer carried out bleeding, and it is first-class to be recycled that suspension system finally floats to the water surface.
Beneficial effect
1, the present invention is usingd gas as the buoyancy adjustment medium, because gas compression is stored in high-pressure gas bottle, before airbag aeration, is simultaneously folded state, and therefore, compact overall structure, the volume of suspension system be little, than great, can realize larger loaded weight.
2, actuating unit of the present invention does not directly overcome extraneous hydraulic pressure acting when carrying out buoyancy adjustment, and therefore, whole suspension system operating power is little, consumes the energy seldom.
3, the air bag inflation/deflation control that realizes a kind of air sac underwater fixed depth suspension system by digital signal processor DSP of the present invention, circuit structure is simple, the circuit integration degree is high, therefore, the small volume of control system.
The accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the structural representation of control system and power supply in the embodiment of the present invention;
The module map that Fig. 3 is a kind of air sac underwater fixed depth suspension control system of the present invention;
The module map that Fig. 4 is external drive control module of the present invention;
The circuit diagram that Fig. 5 is signal processing module of the present invention;
The circuit diagram that Fig. 6 is signal amplification module of the present invention;
The circuit diagram that Fig. 7 is motor drive module of the present invention;
The circuit diagram that Fig. 8 is igniter head driver module of the present invention.
Wherein, 1-valve gap, 2-valve body, 3-valve core spring, 4-spool, 5-rubber cushion, 6-motor, 7-train of reduction gears, 8-gear, 9-tooth bar, 10-tooth bar spring, 11-air bag, 12-clamping sleeve, 13-air bag joint, 14-high-pressure gas bottle, 15-firing pin base, 16-firing pin pipe, 17-electric igniter, 18-firing pin, 19-depth transducer, 20-control system, 21-power supply.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are elaborated.
As shown in Figure 1, a kind of air sac underwater fixed depth levitation device of the present embodiment, comprise actuating unit, depth transducer 19, control system 20 and power supply 21.
Described actuating unit comprises exhaust gear, air bag 11, air bag coupling and gas filled device.
Described exhaust gear is discharged to extraneous waters for the gas by air bag 11, air bag 11 volumes is reduced, thereby reduce system buoyancy.Described exhaust gear is a kind of motor-driven air valve, and by valve gap 1, valve body 2, valve core spring 3, spool 4, rubber cushion 5, motor 6, train of reduction gears 7, gear 8, tooth bar 9, tooth bar spring 10 form.
Spool 4 is placed in valve gap 1 inside, and spool 4 tops are fixedly connected with valve core spring 3; Rubber cushion 5 is adhered to the lower end surface place of spool 4;
Valve body 2 is positioned at air bag 11 inside, and the first half of valve body 2 is flanged tubular structure, and the tubular portion of valve body 2 is threaded with valve gap 1 is corresponding, and the flange of the flange of valve body 2 and valve gap 1 clamps the edge of opening of air bag 11 by seal ring;
The latter half of valve body 2 is slab construction, for parts such as mounted motors; Have chute on flat board, chute is corresponding with the center of spool 4; Motor 6 is installed on the flat board of valve body 2, and the rotating shaft of motor 6 is connected with train of reduction gears 7, and the output shaft of train of reduction gears 7 is connected with gear 8, gear 8 and tooth bar 9 engagements, tooth bar 9 is installed in the chute of valve body 2, and an end of tooth bar 9 points to the center of rubber cushion 5, and the other end is connected with tooth bar spring 10; Tooth bar spring 10 is fixedly connected on dull and stereotyped bottom.
Train of reduction gears 7 is amplified the moment of torsion of motor 6 outputs; By the cooperation of gear 8 tooth bars 9, rotation is converted to the closure or openness that straight-line motion promotes spool 4 again.
The initial condition of exhaust gear is exhaust condition not, and now rubber cushion 5 is subject to valve core spring 3 elastic force effects, seals the exhausr port of valve body 2; During exhaust, motor 6 continues forward, and tooth bar 9 promotes rubber cushion 5 and separates the beginning exhaust with the exhausr port of valve body 2; While stopping exhaust, after motor 6 reversions, stop, tooth bar 9 is return, and rubber cushion 5 is subject to valve core spring 3 elastic force effects, seals the exhausr port of valve body 2; When the air pressure in air bag 11 is excessive, gas will overcome the elastic force of valve core spring 3, promote rubber cushion 5 unlatchings and carry out exhaust pressure relief.The effect of tooth bar spring 10 is the positive engagement that guarantee gear 8 and tooth bar 9.
Described air bag 11 is used to system that buoyancy is provided.
Described air bag coupling is connected for air bag 11 and suspension system housing.Described air bag coupling comprises clamping sleeve 12 and air bag joint 13, and clamping sleeve 12 is the tubular structure of an end with flange, and clamping sleeve 12 is positioned at the inside of air bag 11; Air bag joint 13 is cyclic structure, and air bag joint 13 is connected in the opening part of air bag 11 belows; Corresponding being threaded of inside face of the tubular portion of clamping sleeve 12 and air bag joint 13, the upper surface of the flange portion of clamping sleeve 12 and air bag joint 13 clamps the edge at air bag 11 lower opening places by seal ring.The outside face of air bag joint 13 is fixedly connected with the housing of gas filled device outside.
Described gas filled device, for to air bag 11 inflations, increases air bag 11 volumes, increases suspension system buoyancy.Gas filled device comprises high-pressure gas bottle 14 and corresponding bottle opener thereof, and described bottle opener is comprised of firing pin base 15, firing pin pipe 16, electric igniter 17 and firing pin 18; Firing pin base 15 is loop configuration, and firing pin base 15 lower surfaces have some circular hole slots, and the hole slot bottom has aperture; Firing pin base 15 is positioned at the below of air bag joint 13, by air bag joint 13, is fixed; Firing pin pipe 16 is tubular structure, on the lower end sidewall of firing pin pipe 16, has pore; The top of firing pin pipe 16 inside is equipped with electric igniter 17, and electric igniter 17 belows are connected with firing pin 18; High-pressure gas bottle 14 is fixed in the lower end of firing pin pipe 16; Firing pin pipe 16 is threaded with the hole slot of firing pin base 15; The lead-in wire of electric igniter 17 is drawn from the aperture of the hole slot bottom of firing pin base 15.
When electric igniter 17 detonates, the gaseous product of generation drives firing pin 18 motions, punctures the closure diaphragm of high-pressure gas bottle 14, makes high pressure gas discharge and be full of air bag 11 rapidly.
Gas filled device, depth transducer 19 from top to bottom are connected successively with control system 20.Power supply 21 is positioned at control system 20 both sides, and being used for provides stable electric energy for the normal operation of system.
Described depth transducer 19 is for measuring in real time the degree of depth under water at suspension system place, and depth signal is sent to control system 20.Described depth transducer 19 can adopt pressure transformer.
The effect of described control system 20 is to receive and process depth signal, then according to predetermined control law, handles the actuating unit action in good time.
As shown in Figure 3, described control system 20 comprises voltage transformation module, signal processing module, control module, external drive module.The depth signal that depth transducer detects is transferred to control module after signal processing module is processed, control module is controlled voltage signal according to the control rules of depth signal and setting, control voltage signal through the external drive resume module, be transferred to gas filled device or exhaust gear in actuating unit, gas filled device or exhaust gear have started immediately inflation or the exhaust to air bag under the driving of controlling voltage signal, thereby realize the suspension of underwater fixed depth levitation device set depth in water.
Described voltage transformation module is the required operating voltage of circuit for the voltage transitions that power supply is provided.
The 0-3.3V signal that the function of described signal processing module can be changed for the A/D module that the depth signal of 0-5V is treated to digital signal processor DSP carries out the filtering noise reduction process to signal simultaneously, guarantees the reliability of incoming signal.Described signal processing module is exported to control module by the signal after processing.Described signal processing module passes through the realization of core signal treatment circuit, and as shown in Figure 5, described core signal treatment circuit comprises signal picker P1, resistance R 1, resistance R 2, integrated transporting discharging U1A, resistance R 3, capacitor C 1; Signal picker P1 receives the depth of water processing signals of depth transducer output, signal picker port G1 connects in analog, connect+12V of port G2 power supply, port G3 is connected with resistance R 1, resistance R 1 is connected with integrated transporting discharging U1A is anodal, and resistance R 1 connects digitally by resistance R 2, and resistance R 1 is 2:3 with the resistance proportionate relationship of resistance R 2, the signal output part of integrated transporting discharging U1A connects digitally by resistance R 3 and capacitor C 1, and the negative pole of integrated transporting discharging U1A is connected with the mouth of integrated transporting discharging U1A; Resistance R 3 right-hand members connect output signal, and this output signal is exported to control module.
The function of described control module is processed calculating for inputting depth signal, generates 0-3.3V and controls voltage signal, and will control voltage signal and export to the external drive module.Described control module realizes by digital signal processor DSP U2, comprises the pin G174 that connects incoming signal, meets the pin G31 of Vcc power supply, pin G69, pin G64, pin G81, pin G114, pin G145, meet the pin G23 of 1.8V power supply, pin G37, pin G56, pin G75, pin G100, pin G112, pin G128, pin G143, pin G154, pin G162, meet the pin G1 of 3.3V power supply, pin G13, pin G14, pin G166, pin G159 is connected with Vcc by resistance R 4, pin G140 is connected with Vcc by resistance R 5, and pin G76 passes through capacitor C 2 and is connected in analog, and pin G77 passes through capacitor C 3 and is connected in analog, pin G76 is connected with pin G77 by crystal oscillator Y1, pin G10 passes through capacitor C 4 and digitally is connected, and pin G11 passes through capacitor C 5 and digitally is connected, and pin G16 passes through resistance R 6 and digitally is connected, pin G175 passes through resistance R 10 and digitally is connected, and meets the pin G45 of output signal, pin G46, pin G47, pin G48, pin G92, pin G93, pin G94, pin G95, the pin of output signal is connected with the external drive module, and output port quantity is determined according to the quantity of gas cylinder and motor.
As shown in Figure 4, described external drive module comprises signal amplification module, motor drive module and igniter head driver module; The weak signal that described signal amplification module sends control module is converted into the strong signal of controlling motor drive module and igniter head driver module, and strong signal refers to that voltage is not less than the electric signal of 5V.As shown in Figure 6, the signal amplification module comprises bus transceiver U3, and bus transceiver U3 receives the incoming signal of control module, and bus transceiver U3 outputs signal to motor drive module and igniter head driver module.As shown in Figure 7, motor drive module is realized by miniature motor drive integrated circult U4, miniature motor drive integrated circult U4 comprises pin G2, pin G7, pin G2, pin G7, for receiving the drive and control of electric machine signal of bus transceiver (U3) input, also comprise the pin G3, the pin G6 that connect the motor both positive and negative polarity.The voltage at miniature motor drive integrated circult U4 pin G3, pin G6 two ends is exported to exhaust gear as control signal.As shown in Figure 8, igniter head driver module is comprised of igniter head driving circuit, and the quantity of igniter head driving circuit is determined by the quantity of gas cylinder, and a single point duration and degree of heating driving circuit comprises resistance R 8, capacitor C 6, resistance R 9, aerotron Q1, resistance R 10.Resistance R 8 left ends connect igniter head drive control signal of bus transceiver U3 input, resistance R 8 right-hand members connect the base stage of aerotron Q1, the Q1 base stage is by the circuit parallel ground connection be comprised of capacitor C 6 and resistance R 9, the direct ground connection of the emitter of aerotron Q1, the collecting electrode of aerotron Q1 is by connect+5V of resistance R 10.The voltage at resistance R 10 two ends is exported to gas filled device as control signal.
A kind of air sac underwater fixed depth levitation device working process of the present invention is:
At first the depthkeeping scope of suspension system is set.The concrete setting allows the unsteady degree of depth upper limit and the degree of depth lower limit of suspension system.
After suspension system enters water, depth transducer 19 is sent to control system 20 in real time by the depth signal of perception; 20 pairs of depth signal of control system are processed, then according to the suspension depth requirements of setting and according to control method in good time to the actuating unit sending controling instruction.
Control method is as follows:
When reaching under the degree of depth, the suspension system dive prescribes a time limit, gas filled device starts, electric igniter 17 in one group of bottle opener detonates, firing pin 18 punctures corresponding high-pressure gas bottle 14, discharge gas and be full of air bag 11, now the buoyancy of suspension system reaches maximum, and suspension system is slowed down immediately, and stopping gradually dive, suspension system starts floating subsequently;
In the floating starting stage, suspension system is controlled immediately exhaust gear and is carried out exhaust for the first time, after exhaust the surplus buoyancy of suspension system with self be subject to the resistance balance of water, suspension system at the uniform velocity floats slowly.
When the floating degree of depth reaches on the degree of depth in limited time, suspension system is carried out exhaust for the second time, after exhaust finishes, suspension system under the negative lift effect, the then slowly dive of slowing down gradually.
When suspension system again dive reach under depthkeeping in limited time, gas filled device starts another group bottle opener, suspension system repeats above action afterwards, realizes the suspended motion of suspension system on the set depth scope.
After last group bottle opener starts, system is no longer carried out bleeding, and it is first-class to be recycled that suspension system finally floats to the water surface.
Protection domain of the present invention not only is confined to the present embodiment, and the present embodiment is for explaining the present invention, all changes under same principle and design condition or revise all within protection domain disclosed by the invention with the present invention.
Claims (8)
1. an air sac underwater fixed depth suspension system, is characterized in that: comprise actuating unit, depth transducer (19), control system (20) and power supply (21); Described actuating unit comprises exhaust gear, air bag (11), air bag coupling and gas filled device; Described exhaust gear is discharged to extraneous waters for the gas by air bag (11), air bag (11) volume is reduced, thereby reduce system buoyancy; Described air bag (11) is used to system that buoyancy is provided; Described air bag coupling is connected for air bag (11) and suspension system housing; Described gas filled device, for to air bag (11) inflation, increases air bag (11) volume, increases suspension system buoyancy; Gas filled device, depth transducer (19) from top to bottom are connected successively with control system (20); Power supply (21) is positioned at control system (20) both sides.
2. a kind of air sac underwater fixed depth suspension system as claimed in claim 1, it is characterized in that: described exhaust gear is a kind of motor-driven air valve, by valve gap (1), valve body (2), valve core spring (3), spool (4), rubber cushion (5), motor (6), train of reduction gears (7), gear (8), tooth bar (9), tooth bar spring (10) form; Valve gap (1) is connected in the opening part of air bag (11), and the lower end of valve gap (1) is with flange; Spool (4) is placed in valve gap (1) inside, and spool (4) top is fixedly connected with valve core spring (3); Rubber cushion (5) is adhered to the lower end surface place of spool (4); Valve body (2) is positioned at air bag (11) inside, the first half of valve body (2) is flanged tubular structure, the tubular portion of valve body (2) clamps the edge of opening of air bag (11) by seal ring with corresponding being threaded of valve gap (1), the flange of the flange of valve body (2) and valve gap (1); The latter half of valve body (2) is slab construction; Have chute on flat board, chute is corresponding with the center of spool (4); Motor (6) is installed on the flat board of valve body (2), the rotating shaft of motor (6) is connected with train of reduction gears (7), the output shaft of train of reduction gears (7) is connected with gear (8), gear (8) and tooth bar (9) engagement, tooth bar (9) is installed in the chute of valve body (2), one end of tooth bar (9) points to the center of rubber cushion (5), and the other end is connected with tooth bar spring (10); Tooth bar spring (10) is fixedly connected on dull and stereotyped bottom.
3. a kind of air sac underwater fixed depth suspension system as claimed in claim 1, it is characterized in that: described air bag coupling comprises clamping sleeve (12) and air bag joint (13), clamping sleeve (12) is the tubular structure of an end with flange, and clamping sleeve (12) is positioned at the inside of air bag (11); Air bag joint (13) is cyclic structure, and air bag joint (13) is connected in the opening part of air bag (11) below; Corresponding being threaded of inside face of the tubular portion of clamping sleeve (12) and air bag joint (13), the upper surface of the flange portion of clamping sleeve (12) and air bag joint (13) clamps the edge at air bag (11) lower opening place by seal ring; The outside face of air bag joint (13) is fixedly connected with the housing of gas filled device outside.
4. a kind of air sac underwater fixed depth suspension system as claimed in claim 1 is characterized in that: described gas filled device comprises high-pressure gas bottle (14) and corresponding bottle opener thereof; Described bottle opener is comprised of firing pin base (15), firing pin pipe (16), electric igniter (17) and firing pin (18); Firing pin base (15) is loop configuration, and firing pin base (15) lower surface has some circular hole slots, and the hole slot bottom has aperture; Firing pin base (15) is positioned at the below of air bag joint (13), by air bag joint (13), is fixed; Firing pin pipe (16) is tubular structure, on the lower end sidewall of firing pin pipe (16), has pore; The inner top of firing pin pipe (16) is equipped with electric igniter (17), and electric igniter (17) below is connected with firing pin (18); High-pressure gas bottle (14) is fixed in the lower end of firing pin pipe (16); Firing pin pipe (16) is threaded with the hole slot of firing pin base (15); The lead-in wire of electric igniter (17) is drawn from the aperture of the hole slot bottom of firing pin base (15).
5. a kind of air sac underwater fixed depth suspension system as claimed in claim 1 is characterized in that: described depth transducer (19) is for measuring in real time the degree of depth under water at suspension system place, and depth signal is sent to control system (20).
6. a kind of air sac underwater fixed depth suspension system as claimed in claim 1, it is characterized in that: the effect of described control system (20) is to receive and process depth signal, then according to predetermined control law, handles the actuating unit action in good time.
7. a kind of air sac underwater fixed depth suspension system as claimed in claim 1, it is characterized in that: described control system (20) comprises voltage transformation module, signal processing module, control module and four parts of external drive module; Lead-in wire on control system (20) joins with the lead-in wire of power supply (21), depth transducer (19), electric igniter (17) and motor 6 respectively.
8. a kind of air sac underwater fixed depth suspension system as described as claim 1 or 7, it is characterized in that: the depth signal that depth transducer detects is transferred to control module after signal processing module is processed, control module is controlled voltage signal according to the control rules of depth signal and setting, control voltage signal through the external drive resume module, be transferred to gas filled device or exhaust gear in actuating unit, gas filled device or exhaust gear have started immediately inflation or the exhaust to air bag under the driving of controlling voltage signal, thereby realize the suspension of underwater fixed depth levitation device set depth in water.
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| CN201310380562.9A CN103419914B (en) | 2013-08-28 | 2013-08-28 | Gas bag type underwater depth-control suspension system |
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| CN201310380562.9A CN103419914B (en) | 2013-08-28 | 2013-08-28 | Gas bag type underwater depth-control suspension system |
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