CN104670444B - A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft - Google Patents

Abstract

The present invention relates to the corollary equipment of Autonomous Underwater aircraft, specifically a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft, including buoyancy material outer housing, outer leather bag cabin, leather bag, control cabinet pneumatic shell, control valve, pressure-resistant cabin side end cap and pressure-resistant cabin housing, outer leather bag cabin, control cabinet pneumatic shell, pressure-resistant cabin side end cap and pressure-resistant cabin housing are sequentially connected, and wrapped up by buoyancy material outer housing, leather bag is respectively provided with outer leather bag cabin and pressure-resistant cabin housing, on outer leather bag cabin, limbers is provided with；Control valve is connected with two leather bags in control cabinet pneumatic shell respectively, controls the flow direction that valve controls oil between two leather bags by Autonomous Underwater aircraft；Fluid in outer leather bag cabin in leather bag is flowed in the leather bag in pressure-resistant cabin housing, carries out the regulation of buoyancy by the change of the leather bag volume in outer leather bag cabin.Trim by dive of the present invention, is not required to carry out extra trim operation, just can achieve the optimization trim of weight buoyancy.

Description

A one-way buoyancy adjustment device for autonomous underwater vehicles

technical field

The invention relates to ancillary equipment for an autonomous underwater vehicle, in particular to a one-way buoyancy regulating device for an autonomous underwater vehicle.

Background technique

Deep-sea autonomous underwater vehicle is an underwater platform that relies on its own energy for autonomous navigation. It can complete various detection tasks of deep-sea submarine resources and energy, and has important value. Due to the deep-sea autonomous underwater vehicle has a large dive depth, when navigating in unknown large-depth waters, as the diving depth increases, the buoyancy of the autonomous underwater vehicle will gradually increase, which will greatly affect the autonomous underwater vehicle. The performance of navigating in large depths of water; moreover, the increase in buoyancy is related to different water conditions and depths. In order to carry out the initial stage of large-diving-depth exploration, the large-diving-depth autonomous underwater vehicle needs to optimize the heavy buoyancy according to the specific sea area and diving depth. Due to the large number of materials and the different forms of the pressure chamber of the large-diving deep underwater vehicle, as well as the uncertainty of the hydrological environment in different navigation waters, it is very difficult to accurately calculate the trimming amount of different navigation depths, so it is necessary to adjust the parameters for different dives before the test. In the deep ocean environment, the trimming process is very time-consuming and difficult. At present, the method of submerging and trimming in several times, gradually increasing the diving depth and gradually increasing the trim lead weight is generally used to achieve the purpose of optimizing navigation at a predetermined depth. Under normal circumstances, it takes 2 to 3 dives to achieve the optimal trim at the predetermined depth. Due to the large navigation depth, the implementation period of the dive and float operations is long and relatively difficult, the sensitivity is poor, and a lot of manpower and material resources are consumed. Therefore, it is of great practical significance to reduce the number of dive trims and improve the trim quality of autonomous underwater vehicles.

Contents of the invention

The object of the present invention is to provide a one-way buoyancy adjustment device for an autonomous underwater vehicle. The one-way buoyancy adjustment device is installed on the main body of the autonomous underwater vehicle, without consuming a large amount of energy on the autonomous underwater vehicle, it can realize the one-way reduction of the buoyancy of the vehicle at the predetermined navigation depth, so that the vehicle can The predetermined working depth reaches the optimal heavy buoyancy balance state, and then enables the autonomous underwater vehicle to complete related tasks at this depth; It can be trimmed in one dive during sailing, and the optimal trimming of heavy buoyancy can be realized without additional trimming operation.

The purpose of the present invention is achieved through the following technical solutions:

The present invention is installed on an autonomous underwater vehicle, and includes a buoyancy material outer cover, an outer skin capsule cabin, a skin capsule, a pressure-resistant shell of a control cabin, a control valve, a side end cover of a pressure-resistant cabin, and a pressure-resistant cabin shell, wherein the outer skin capsule cabin, the control cabin The pressure hull of the cabin, the side end cover of the pressure cabin and the shell of the pressure cabin are connected in sequence, and are wrapped by the buoyancy material outer cover. The outer skin capsule and the pressure cabin shell are respectively equipped with leather bags. There is a water hole; the control valve is installed in the pressure-resistant shell of the control cabin, and communicates with the outer bladder cabin and the bladder in the pressure-resistant cabin shell respectively. The control valve controls the connection between the two bladders through the autonomous underwater vehicle. The flow direction of the oil between them; seawater enters the outer bladder cabin through the water hole, and the oil in the bladder in the outer bladder cabin flows to the bladder in the pressure-resistant cabin shell, and passes through the volume of the bladder in the outer bladder cabin. Changes to adjust buoyancy.

Wherein: the buoyancy material outer cover is installed on the autonomous underwater vehicle through the connection fixing plate, and the outer skin capsule cabin and the pressure-resistant cabin shell are respectively covered with connecting rings connected with the connection fixing plate; the outer skin capsule cabin One end is sealed and connected to one end of the pressure-resistant shell of the control cabin, and the water hole is opened at the other end of the outer bladder compartment; the bladder in the outer bladder compartment is provided with an outlet pressure pump installed at one end of the pressure-resistant shell of the control cabin. Cover, the outlet gland of the outer oil bag is provided with an oil groove; the outlet gland of the outer oil bag is in the shape of a spherical crown; the pressure shell of the control cabin is respectively provided with a threaded connection oil port throttling unit and an outlet blocking head In the threaded hole, the two sides of the oil port throttling unit are respectively connected with the oil channel and the control valve through the oil passage, and the oil channel between the oil port throttling unit and the oil channel is provided with a one-way Valve; the threaded hole where the outlet blocking head is located is connected to the oil path between the oil port throttling unit and the cartridge check valve through the oil circuit, and the oil returns to the bladder in the outer bladder compartment through the threaded hole , a spring and a sealing member are arranged in the threaded hole;

The outlet oil-filled shell is sealed and installed on the pressure shell of the control cabin. One end of the socket is inserted into the pressure shell of the control cabin through the oil-filled shell of the outlet port, and the other end is located in the groove of the oil-filled shell of the outlet port. The outlet cover on the top of the outlet oil-filled shell is sealed and wrapped;

One end of the pressure-resistant cabin shell is connected to the pressure-resistant shell of the control cabin through the side end cover of the pressure-resistant cabin, and the other end is respectively provided with an external pressure gauge interface and an external air charging port. There is a sealing cover installed on the other end of the pressure-resistant cabin shell; the end of the bladder in the pressure-resistant cabin shell close to the side end cover of the pressure-resistant cabin is provided with an internal isolation spherical shell, and the bladder in the pressure-resistant cabin shell is shrinking It is pasted on the outline of the internal isolation spherical shell; the internal isolation spherical shell is provided with a jet-proof baffle installed on the side end cover of the pressure cabin; Internal pressure gauge for gas pressure inside the ballast shell.

Advantage of the present invention and positive effect are:

1. The present invention adopts the principle of reducing the displacement to control the buoyancy of the autonomous underwater vehicle when navigating in the deep sea, and can accurately carry out buoyancy trimming at a predetermined depth after being loaded in unknown sea areas or at different depths for the first time, and can be carried out after trimming Navigational detection, and it is convenient to read the trim amount at a predetermined depth, and then after the present invention is removed, the autonomous underwater vehicle can be optimally trimmed through the last trim amount, avoiding multiple trim operations in unknown sea areas and depths.

2. The present invention is a functionally independent module, which is connected to the main body of the autonomous underwater vehicle through screws by means of the connecting fixing plate, so the connection and separation between the present invention and the autonomous underwater vehicle are very convenient and reliable, and are easy to install and disassemble .

3. In the present invention, a threaded hole is provided on the pressure-resistant shell of the control cabin, and the oil port throttling unit and the outlet plugging head are placed in the threaded hole, wherein there are springs and sealing members in the threaded hole where the outlet plugging head is located. Under the action of the spring, the sealing member will automatically seal, so as to ensure that the oil in the bladder will not leak; under normal circumstances, the outlet plug will be screwed into the threaded hole, and only when the oil needs to be replayed, it needs to be removed. Open the exit and block the head.

4. Two interfaces, an external pressure gauge interface and an external inflation port, are installed on the pressure-resistant cabin shell of the present invention. The initial gas pressure inside the pressure-resistant cabin shell can be controlled through these two interfaces, and the pressure-resistant cabin can be measured by the internal pressure sensor to obtain The real-time pressure inside the ballast shell, when the oil in the bladder in the outer bladder cabin flows into the bladder in the pressure-resistant cabin shell, the air pressure increases, measured by the pressure value of the internal pressure sensor and the body of the autonomous underwater vehicle The temperature value can accurately calculate the buoyancy adjustment amount of the buoyancy adjustment system, and realize the precise control of buoyancy adjustment.

Description of drawings

Fig. 1 is a schematic structural view of an autonomous underwater vehicle installed with the present invention;

Fig. 2 is a structural representation of the present invention;

Fig. 3 is a sectional view of the internal structure of the present invention;

Fig. 4 is the partial enlarged view of I place in Fig. 3;

Fig. 5 is a partial enlarged schematic view of the control cabin part of the present invention;

Fig. 6 is a schematic diagram of the principle of the hydraulic system of the present invention;

Among them: 1 is the buoyancy material cover, 2 is the connecting fixed plate, 3 is the throttle unit of the oil port, 4 is the connecting ring, 5 is the outer skin bag cabin, 6 is the skin bag, 7 is the end cover of the outlet port, and 8 is the oil filling of the outlet port Shell, 9 is the side end cover of the pressure chamber, 10 is the internal isolation spherical shell, 11 is the shell of the pressure chamber, 12 is the screw, 13 is the sealing ring, 14 is the outlet plugging head, 15 is the outlet gland of the outer oil bag , 16 is the socket, 17 is the two-position two-way valve, 18 is the pressure-resistant shell of the control cabin, 19 is the electronic unit, 20 is the cartridge check valve, 21 is the water hole, 22 is the external pressure gauge interface, and 23 is the external Inflatable port, 24 is the first oil return bypass interface, 25 is the second oil return bypass interface, 26 is the internal pressure gauge, 27 is the underwater vehicle, 28 is the anti-jet flow baffle, 29 is the oil passage groove, 30 is Sealed cover.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the whole of the one-way buoyancy adjusting device of the present invention is fixedly connected to the autonomous underwater vehicle 27 through the connection fixing plate 2 . As shown in Figures 1 to 4, the present invention includes a buoyancy material outer cover 1, an outer skin capsule cabin 5, a skin capsule 6, a control cabin pressure shell 18, a control valve, a pressure cabin side end cover 9 and a pressure cabin shell 11. The control valve of the invention is a two-position two-way valve 17; the connecting fixed plate 2 is fixed on the autonomous underwater vehicle 27 by screws 12, and the buoyant material outer cover 1 is fixed on the connecting fixed plate 2 by screws 12. The one-way buoyancy of the present invention The internal structure of the regulating device is wrapped by the outer skin capsule 5, the pressure-resistant cabin shell 11 and the control cabin pressure-resistant shell 18, and the outer skin capsule 5, the pressure-resistant cabin shell 11 and the control cabin pressure-resistant shell 18 are covered by the buoyancy cover 1 Wrapped for some protection. The outer skin capsule cabin 5, the control cabin pressure shell 18, the pressure cabin side end cover 9 and the pressure cabin shell 11 are sequentially connected, and the outer skin capsule cabin 5 and the pressure cabin shell 11 are respectively covered with connecting rings 4, and the outer skin capsule The cabin 5 and the pressure-resistant cabin shell 11 are respectively fixed on the connecting and fixing plate 2 through the connecting ring 4 . The buoyancy material of the present invention belongs to the prior art, and is a composite material of glass microspheres and epoxy resin.

One end of the outer skin capsule cabin 5 is sealed and connected to one end of the pressure-resistant shell 18 of the control cabin, and the other end is provided with a water hole 21 through which seawater enters the outer skin capsule cabin 5; , the skin bag 6 in the outer skin bag cabin 5 is provided with an outer oil bag outlet gland 15 fixedly connected to one end face of the control cabin pressure shell 18, the shape of the outer oil bag outlet gland 15 is a spherical crown, and the outer skin bag cabin 5 The inner skin bag 6 plays a protective role, and an oil passage 29 is formed on the outer oil bag outlet gland 15, and the oil in the skin bag 6 in the outer skin bag compartment 5 can flow out through the oil passage 29.

One end of the pressure-resistant cabin shell 11 is connected to the other end of the pressure-resistant shell 18 of the control cabin through the side end cover 9 of the pressure-resistant cabin, and the other end of the pressure-resistant cabin shell 11 is respectively provided with an external pressure gauge interface 22 and an external inflation port 23 , the external pressure gauge interface 22 is used to connect the pressure sensor to measure the pressure of the oil inside the bladder 6 in the pressure-resistant cabin shell 11, and the external air charging port 23 is connected to the atmosphere. When the bladder 6 in the outer bladder cabin 5 needs to return oil , the oil in the bladder 6 inside the pressure-resistant cabin housing 11 can be made to flow back into the bladder 6 in the outer bladder compartment 5 by pumping air into the cabin of the pressure-resistant cabin housing 11 . The pressure cabin side end cover 9 is sealed with the pressure cabin shell 11 and the control cabin pressure shell 18 respectively through the sealing ring 13 to prevent seawater from entering. The outside of the external pressure gauge interface 22 and the external air filling port 23 is provided with a sealing cover 30 sealed and installed on the other end of the pressure chamber shell 11 through the screw 12 and the sealing ring 13 . The pressure cabin shell 11 is provided with a leather bag 6, and the end of the leather bag 6 close to the pressure cabin side end cover 9 is provided with an internal isolation spherical shell 10. The shape of the internal isolation spherical shell 10 is spherical, and the pressure cabin shell 11 The inner skin bag 6 can be attached to the outer contour of the inner isolation spherical shell 10 when it shrinks, so as to protect the skin bag 6; at the same time, the interior of the inner isolation spherical shell 10 is also equipped with a The anti-jet baffle 28 protects the bladder 6 in the pressure-resistant cabin shell 11 from the impact of high-pressure fast oil.

The two-position two-way valve 17 and the electronic unit 19 are respectively arranged in the pressure-resistant shell 18 of the control cabin. It is connected with the autonomous underwater vehicle 27 to control the reversing of the two-position two-way valve 17; the electronic unit 19 of the present invention is a prior art. The pressure casing 18 of the control cabin is respectively provided with threaded holes for threaded connection of the oil port throttling unit 3 and the outlet plugging head 14, wherein the two sides of the oil port throttling unit 3 pass through the oil passage and the oil passage groove 29 and the two-position two respectively. The through valve 17 is connected to each other, and by replacing the oil port throttling unit 3 with different internal apertures, the flow rate of the oil in the bladder 6 in the outer bladder compartment 5 at a predetermined depth can be controlled to achieve the purpose of flow control; the oil port throttling unit 3 and the oil passage 29 are provided with a plug-in check valve 20 on the oil path, and the plug-in check valve 20 controls the oil to only flow from the oil passage 29 to the two-position two-way valve 17. The threaded hole where the outlet blocking head 14 is located communicates with the oil path between the oil port throttling unit 3 and the cartridge check valve 20 through the oil passage, as shown in Figure 6, when the oil passes through the threaded hole to the outer bladder When returning to the bladder 6 in the cabin 5, remove the outlet blocking head 14, and return to the bladder 6 in the outer bladder cabin 5 through the first oil return bypass interface 24 and the second oil return bypass interface 25; The threaded hole where the outlet blocking head 14 is located is provided with a spring and a sealing member, which can function as a one-way valve. The outlet oil-filled shell 8 is sealed and installed on the pressure-resistant shell 18 of the control cabin. One end of the socket 16 is inserted into the pressure-resistant shell 18 of the control cabin through the oil-filled shell 8 of the outlet, and the other end is located in the groove of the oil-filled shell 8 of the outlet. , and sealed and wrapped by the outlet end cover 7 and the sealing ring 13 installed on the top of the outlet oil-filled shell 8 to prevent seawater from entering. The control cabin pressure shell 18 is also provided with an internal pressure gauge 26 for detecting the gas pressure inside the pressure cabin shell 11. The internal pressure gauge 26 can measure the gas pressure inside the pressure cabin shell 11 in real time. The external ambient temperature parameters measured by the aircraft 27 can be calculated by the law of gas compression to obtain the amount of oil in the bladder 6 in the outer bladder compartment 5 flowing into the pressure-resistant cabin shell 11, so that the overall temperature of the autonomous underwater vehicle can be accurately obtained. The amount of buoyancy reduction.

Working principle of the present invention is:

As shown in Figure 6, when the autonomous underwater vehicle needs to operate at a predetermined depth in an unknown sea area for the first time, the two one-way buoyancy adjustment devices are symmetrically fixed on both sides of the autonomous underwater vehicle 27 through the connection fixing plate 2; the outer skin bag The leather bag 6 in the cabin 5 is filled with oil, and the leather bag 6 in the pressure-resistant cabin shell 11 does not have oil. When the autonomous underwater vehicle 27 dives to the specified depth, the heavy buoyancy state of the autonomous underwater vehicle 27 is estimated by the speed of the propeller of the autonomous underwater vehicle 27, and the buoyancy adjustment amount is given according to the heavy buoyancy state. Then, the two-position two-way valve 17 is controlled by the electronic unit 19 to control the on-off of the passage between the bladder 6 in the outer bladder compartment 5 and the pressure-resistant compartment shell 11 . When the two-position two-way valve 17 is opened, the passage is opened, and the oil in the bladder 6 in the outer bladder compartment 5 flows out from the oil passage groove 29, and then passes through the inserted check valve 20, the oil port throttling unit 3, and the two-position two-way The valve 17 enters the bladder 6 in the pressure-resistant cabin shell 11, and the volume of the bladder 6 in the outer bladder cabin 5 becomes smaller, and the buoyancy decreases. At the same time, the oil intake of the buoyancy adjustment device is calculated through the real-time internal pressure gauge 26 and the temperature sensor value of the autonomous underwater vehicle 27. When the predetermined calculation amount is reached, the two-position two-way valve 17 is controlled to close, and the vehicle body The buoyancy state can be kept under the predetermined state. If it is necessary to return to the bladder 6 in the outer bladder compartment 5, remove the outlet plugging head 14, pump air into the pressure-resistant cabin shell 11 through the external inflation port 23, and at the same time, the two-position two-way valve 17 changes direction, and the pressure-resistant cabin The oil in the inner bladder 6 of the housing 11 flows back to the outer bladder compartment 5 through the two-position two-way valve 17, the oil port throttling unit 3, the first oil return bypass interface 24, and the second oil return bypass interface 25 in sequence In the inner skin bag 6.

The invention is suitable for the buoyancy automatic adjustment of deep-sea autonomous underwater vehicles in the large-depth navigation and detection process in unknown sea areas, and avoids repeated trimming during deep-sea navigation. The invention does not need to consume a lot of energy of the vehicle itself, adjusts the buoyancy of the autonomous underwater vehicle by changing the volume principle of the buoyancy adjustment device, and realizes the measurement of the buoyancy adjustment amount of the autonomous underwater vehicle by relying on the principle of air pressure. The invention can realize the function that the aircraft, especially the aircraft with a large submerged depth, does not need to be individually trimmed when navigating at sea.

Claims (9)

1. A one-way buoyancy regulating device for autonomous underwater vehicle, characterized in that: said one-way buoyancy regulating device is installed on the autonomous underwater vehicle (27), comprising buoyancy material outer cover (1), outer Leather capsule (5), bladder (6), control cabin pressure shell (18), control valve, pressure cabin side end cover (9) and pressure cabin shell (11), wherein the outer skin capsule (5), The control cabin pressure shell (18), the pressure tank side end cover (9) and the pressure tank shell (11) are sequentially connected and wrapped by the buoyancy material outer cover (1), and the outer skin capsule (5) and the pressure-resistant cabin housing (11) are respectively equipped with a leather bag (6), and the outer leather bag cabin (5) is provided with a water hole (21); the control valve is installed in the pressure-resistant shell (18) of the control cabin , communicate with the outer bladder (5) and the bladder (6) in the pressure-resistant cabin shell (11) respectively, and the control valve controls the oil between the two bladders (6) through the autonomous underwater vehicle (27). The direction of flow; seawater enters the outer skin capsule (5) through the water hole (21), and the oil in the outer skin capsule (5) inner bladder (6) flows to the pressure-resistant cabin shell (11) In the inner skin bag (6), the adjustment of buoyancy is carried out by the change of the volume of the skin bag (6) in the outer skin bag cabin (5); One end of the outer skin capsule (5) is sealed and connected to one end of the pressure-resistant shell (18) of the control cabin, and the water hole (21) is opened at the other end of the outer skin capsule (5); the outer skin capsule (5) ) is provided with an outer oil bag outlet gland (15) installed at one end of the control cabin pressure shell (18), and an oil passage groove (29) is opened on the outer oil bag outlet gland (15) . 2. The one-way buoyancy adjustment device for autonomous underwater vehicle according to claim 1, characterized in that: the buoyancy material outer cover (1) is installed on the autonomous underwater vehicle (27) by connecting the fixed plate (2) ), the outer skin capsule cabin (5) and the pressure cabin shell (11) are respectively covered with connecting rings (4) connected to the connecting fixing plate (2). 3. The one-way buoyancy regulating device for autonomous underwater vehicle according to claim 1, characterized in that: the outlet gland (15) of the outer oil bag is in the shape of a spherical crown. 4. The one-way buoyancy adjustment device for autonomous underwater vehicle according to claim 1, characterized in that: the control cabin pressure shell (18) is respectively provided with threaded connection oil port throttling unit (3) and the threaded hole of the outlet plugging head (14), wherein the two sides of the oil port throttling unit (3) communicate with the oil channel (29) and the control valve respectively through the oil passage, and the oil port throttling unit (3) There is a plug-in check valve (20) on the oil path between the oil channel (29); the threaded hole where the outlet blocking head (14) is located passes through the oil path and the oil port throttling unit (3) It communicates with the oil circuit between the plug-in check valve (20), and the oil returns to the bladder (6) in the outer bladder compartment (5) through the threaded hole, and a spring and a sealing member are arranged in the threaded hole . 5. The one-way buoyancy adjustment device for autonomous underwater vehicle according to claim 1, characterized in that: the control cabin pressure shell (18) is sealed with an outlet oil-filled shell (8), a socket One end of (16) is inserted into the pressure-resistant shell (18) of the control cabin through the outlet oil-filled shell (8), the other end is located in the groove of the outlet oil-filled shell (8), and is installed in the outlet oil-filled shell (8) The outlet end cap (7) on the top is sealed and wrapped. 6. The one-way buoyancy regulating device for autonomous underwater vehicle according to claim 1, characterized in that: one end of the pressure-resistant cabin shell (11) is connected to the control unit through the pressure-resistant cabin side end cover (9) The cabin pressure shell (18) is connected, and the other end is respectively provided with an external pressure gauge interface (22) and an external inflation port (23). The external pressure gauge interface (22) and the external inflation port (23) are equipped with A sealing cover (30) on the other end of the pressure chamber shell (11). 7. The one-way buoyancy regulating device for autonomous underwater vehicle according to claim 1 or 6, characterized in that: the skin bag (6) in the pressure-resistant cabin shell (11) is close to the side end of the pressure-resistant cabin One end of the cover (9) is provided with an internal isolation spherical shell (10), and the bladder (6) in the pressure chamber shell (11) sticks to the outer contour of the internal isolation spherical shell (10) when it shrinks. 8. The one-way buoyancy adjustment device for autonomous underwater vehicles according to claim 7, characterized in that: said internal isolation spherical shell (10) is provided with a buoyancy device mounted on the side end cover (9) of the pressure tank. jet baffle (28). 9. The one-way buoyancy regulating device for autonomous underwater vehicle according to claim 1, characterized in that: said control cabin pressure shell (18) is provided with a gas detection system inside the pressure cabin shell (11) Internal pressure gauge (26).