CN104691726B - Underwater robot buoyancy adjusting device - Google Patents
Underwater robot buoyancy adjusting device Download PDFInfo
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- CN104691726B CN104691726B CN201310655445.9A CN201310655445A CN104691726B CN 104691726 B CN104691726 B CN 104691726B CN 201310655445 A CN201310655445 A CN 201310655445A CN 104691726 B CN104691726 B CN 104691726B
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- Prior art keywords
- valve
- gear pump
- leather bag
- underwater robot
- oil
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Abstract
The invention relates to support equipment of an underwater robot, in particular to an underwater robot buoyancy adjusting device, comprising a carrier shell, end covers, an inner leather barrel, an outer leather barrel, a direct current motor, a gear pump and a valve group, wherein two ends of the carrier shell are connected with the end covers to jointly define a sealed cabin in which the inner leather barrel, the direct current motor, the gear pump and the valve group are arranged; the gear pump is driven to work by the direct current motor; an oil outlet of the gear pump is in series connection with a check valve and a filter and then connected to the valve group; an oil suction port of the gear pump is in direct connection with the valve group through a pipeline; oil ports of the inner leather barrel and the outer leather barrel are connected with the valve group through the pipeline. The size of the outer leather barrel is increased as oil is injected into the outer leather barrel through the gear pump, and buoyancy is increased; hydraulic oil in the outer leather barrel flows to the inner leather barrel through water pressure or oil suction by the gear pump, the size of the outer leather barrel is decreased and the buoyancy is decreased. The underwater robot buoyancy adjusting device is simple and reliable and independent in functions, can be applied to an underwater robot as an independent module, and has advantages of small power, low energy consumption, low noise and the like.
Description
Technical field
The present invention relates to the corollary equipment of underwater robot, specifically a kind of underwater robot buoyancy regulating device.
Background technology
Underwater robot on a large scale or during different depth water-area navigation, due to waters density different produce only float
Power is also different, and this power needs to rely on rudder power to overcome, and such underwater robot can bring extra resistance when distance is navigated by water
Power, increases energy consumption.Using buoyancy regulating device according to the buoyancy of different waters Auto-regulating System of Density of Heavy Medium underwater robot, can effectively reduce energy
Consumption, increases distance to go.
At present, most of buoyancy regulating devices are larger for the dependency ratio of carrier, and versatility is poor.In order to increase buoyancy
The versatility of adjusting means, needs to develop modularity, intelligentized buoyancy regulating device.
Content of the invention
For floating adjusting means modularity direction, it is an object of the invention to provide a kind of underwater robot buoyancy adjustment dress
Put.This buoyancy regulating device is capable of modularity, less to the dependency of carrier, only need to provide fixed interface；So
Can independently debug, can be applicable on dissimilar, difference in functionality underwater robot and other submarine navigation devices.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes carrier shell, end cap, interior leather bag, outer leather bag, direct current generator, gear pump and valve group, wherein carrier
The two ends of shell are connected to end cap, are collectively forming sealed compartment, and described interior leather bag, direct current generator, gear pump and valve group are respectively
It is arranged in described sealed compartment；Described gear pump is worked by DC motor Driver, the oil-out series connection check valve of this gear pump,
Filter is followed by described valve group, and the inlet port of described gear pump passes through pipeline and valve group direct connection；Described interior leather bag and outer leather bag
Hydraulic fluid port be connected with valve group by pipeline respectively；The volume of described outer leather bag is increased by the inside oiling of gear pump, buoyancy increases
Plus, the hydraulic oil of described outer leather bag passes through leather bag in hydraulic pressure or described gear pump oil suction flow direction, and described crust capsule volume reduces, floats
Power reduces.
Wherein：Described valve group includes valve block and is integrated in overflow valve on this valve block, solenoid directional control valve, electromagnetic ball respectively
Valve, one-way throttle valve, the oil-out series connection check valve of described gear pump, filter are followed by the P mouth of solenoid directional control valve, described excessive
Stream valve is in parallel with the P mouth of solenoid directional control valve, and the inlet port of described gear pump is connected with the T mouth of solenoid directional control valve；Described inside and outside skin
Capsule is connected to A mouth, the B mouth of solenoid directional control valve respectively by pipeline, and the pipeline between interior leather bag and solenoid directional control valve B mouth is in series with
Solenoid ball valve, the pipeline between outer leather bag and solenoid directional control valve A mouth is in series with Solenoid ball valve and one-way throttle valve；Described gear
Pipeline between pump and solenoid directional control valve is provided with the first pressure sensor of detection gear pump oil-out pressure；Described outer leather bag
Pipeline and Solenoid ball valve between is provided with the second pressure sensor of the detection intracapsular oil liquid pressure of crust；Described overflow valve, electricity
Magnetic reversal valve, Solenoid ball valve and one-way throttle valve are inserted valve, are integrated in described valve block together with first and second pressure transducer
On；The linear displacement transducer of detection endothelium intracapsular fluid change in volume is provided with described interior leather bag.
Advantages of the present invention with good effect is：
1. the present invention adopts simple hydraulic principle, from General hydraulic components and parts, can apply not as standalone module
On same type, the underwater robot of difference in functionality, simple and reliable, functional independence, have that power is little, energy consumption is little, noise is low excellent
Point.
2. the present invention can individually debug and test, less to the dependency of underwater robot carrier.
3. the present invention is convenient installs, and is easy to safeguard.
Brief description
Fig. 1 is the external perspective structural representation of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is the structural representation of valve group of the present invention；
Fig. 4 is the structural representation of direct current generator of the present invention and gear pump；
Fig. 5 is the hydraulic schematic diagram of the present invention；
Wherein：1 is direct current generator, and 2 is gear pump, and 3 is check valve, and 4 is filter, and 5 is overflow valve, and 6 is pressure gauge,
701 is first pressure sensor, and 702 is second pressure sensor, and 8 is solenoid directional control valve, and 901 is the first Solenoid ball valve, and 902 are
Second Solenoid ball valve, 10 is one-way throttle valve, and 11 is linear displacement transducer, and 12 is interior leather bag, and 13 is outer leather bag, and 14 is valve
Group, 15 is installing rack, and 16 is drive end bearing bracket, and 17 is valve block, and 18 is carrier shell, and 19 is rear end cap, and 20 is gear drive group, and 21 are
Oil-out, 22 is casing.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figures 1-4, the present invention includes direct current generator 1, gear pump 2, check valve 3, filter 4, interior leather bag 12, outer
The two ends of leather bag 13, valve group 14, installing rack 15, drive end bearing bracket 16, carrier shell 18 and rear end cap 19, wherein carrier shell 18 are respectively
It is sealedly connected with drive end bearing bracket 16 and rear end cap 19, and together form sealed compartment；Outer leather bag 13 is arranged on drive end bearing bracket 16 and water
Contact, remaining components and parts and structural member are in sealed compartment.The present invention can as the module of standalone feature, by forward and backward end cap 16,
19 are installed together with other sections of underwater robot carrier, are not affected by carrier other structures.
It is fixed with installing rack 15, valve group in the sealed compartment being formed by the forward and backward end cap 16,19 at carrier shell 18 and its two ends
14 include valve block 17 and are integrated in overflow valve 5 on this valve block 17, first pressure sensor 701, second pressure sensor respectively
702nd, solenoid directional control valve 8, the first Solenoid ball valve 901, the second Solenoid ball valve 902, one-way throttle valve 10, valve block 17 is fixed on installation
On frame 15, overflow valve 5, solenoid directional control valve 8, Solenoid ball valve and one-way throttle valve 10 are inserted valve, pass together with first and second pressure
Sensor 701,702 is integrated on valve block 17.Interior leather bag 12 adopts outer guiding, is fixed on installing rack 15 by left side flange；
The linear displacement transducer 11 of leather bag 12 inner fluid change in volume in detection is provided with interior leather bag 12.Direct current generator 1 and tooth
Wheel pump 2 is fixed on installing rack 15 by housing 22 respectively, is provided with gear drive group 20 in housing 22, and direct current generator 1 passes through should
Gear drive group 20 driving gear pump 2 works.
Solenoid directional control valve 8 is three-position four-way valve, and the oil-out 21 series connection check valve 3 of gear pump 2, filter 4 are followed by electricity
The P mouth of magnetic reversal valve 8, overflow valve 5 is in parallel with the P mouth of solenoid directional control valve 8, the T of the inlet port of gear pump 2 and solenoid directional control valve 8
Mouth is connected；Outer leather bag 13, the first Solenoid ball valve 901, one-way throttle valve 10 are connected with the A mouth of solenoid directional control valve 8 after connecting, endothelium
It is connected with the B mouth of solenoid directional control valve 8 after capsule 12, the second Solenoid ball valve 902 series connection.Pipe between gear pump 2 and solenoid directional control valve 8
Road is provided with the first pressure sensor 701 of detection gear pump oil-out pressure, between outer leather bag 13 and the first Solenoid ball valve 901
Pipeline be provided with detection the intracapsular oil liquid pressure of crust second pressure sensor 702.
The operation principle of the present invention is：
As shown in figure 5, when underwater robot needs to increase buoyancy, solenoid directional control valve 8 left side electric magnet, the first electromagnetic ball
The electric magnet of valve 901 and the second Solenoid ball valve 902 obtains electric, and now gear pump 2 oil suction in interior leather bag 12, then successively through unidirectional
Valve 3, filter 4, the left position of solenoid directional control valve 8, one-way throttle valve 10, oiling in the outside leather bag 13 of the first Solenoid ball valve 901, outward
Leather bag 13 volume increases, and buoyancy increases；When reaching designated value, solenoid directional control valve 8 left side electric magnet, the first Solenoid ball valve 901
Electric magnet power-off with the second Solenoid ball valve 902.
When underwater robot needs to reduce buoyancy, need to determine work according to the pressure value of second pressure sensor 702
Operation mode.When pressure value is less than 1MPa, need solenoid directional control valve 8 right side electric magnet, the first Solenoid ball valve 901 and the second electromagnetism
The electric magnet of ball valve 902 obtains electric, now gear pump 2 oiling in the inside leather bag 12 of outer leather bag 13；When pressure value is more than 1MPa,
Only need the first Solenoid ball valve 901 and the second Solenoid ball valve 902 electric magnet obtain electric, rely on hydraulic pressure by fluid from outer leather bag 13 through the
One Solenoid ball valve 901, one-way throttle valve 10, solenoid directional control valve 8 middle position, the second Solenoid ball valve 902 flow back to interior leather bag 12, outer leather bag
13 volumes reduce, and buoyancy reduces；When reaching designated value, the electric magnet of the first Solenoid ball valve 901 and the second Solenoid ball valve 902 breaks
Electricity.The volume of fluid change by the linear displacement transducer 11 being arranged on interior leather bag 12 measure the displacement of interior leather bag end face Lai
Determine.
, when adjusting buoyancy, in the conversion realization of dependence 8 three operating positions of solenoid directional control valve, leather bag 12 is with outward for the present invention
The flowing of fluid in leather bag 13, applicable line displacement transducer 11 measures interior leather bag fluid volume change and can draw outer leather bag
The change of 13 volumes, thus realize the purpose of accurate adjustment buoyancy.
Claims (5)
1. a kind of underwater robot buoyancy regulating device it is characterised in that：Including carrier shell (18), end cap, interior leather bag (12),
Outer leather bag (13), direct current generator (1), gear pump (2) and valve group (14), the two ends of wherein carrier shell (18) are connected to end
Cover, be collectively forming sealed compartment, described interior leather bag (12), direct current generator (1), gear pump (2) and valve group (14) are separately mounted to institute
State in sealed compartment；Described gear pump (2) drives work, oil-out (21) Series Sheet of this gear pump (2) by direct current generator (1)
It is followed by described valve group (14) to valve (3), filter (4), the inlet port of described gear pump (2) passes through pipeline with valve group (14) directly
Connection；The hydraulic fluid port of described interior leather bag (12) and outer leather bag (13) is connected with valve group (14) by pipeline respectively；Described outer leather bag (13)
Volume by gear pump (2) inwardly oiling and increase, buoyancy increases, the hydraulic oil of described outer leather bag (13) passes through hydraulic pressure or institute
State leather bag (12) in gear pump (2) oil suction flow direction, described outer leather bag (13) volume-diminished, buoyancy reduce.
2. the underwater robot buoyancy regulating device as described in claim 1 it is characterised in that：Described valve group (14) includes valve block
(17) it is integrated in and respectively overflow valve (5) on this valve block (17), solenoid directional control valve (8), Solenoid ball valve, one-way throttle valve
(10), the oil-out (21) series connection check valve (3) of described gear pump (2), filter (4) are followed by the P of solenoid directional control valve (8)
Mouthful, described overflow valve (5) is in parallel with the P mouth of solenoid directional control valve (8), the inlet port of described gear pump (2) and solenoid directional control valve (8)
T mouth be connected；Described inside and outside leather bag (12,13) is connected to A mouth, the B mouth of solenoid directional control valve (8) respectively by pipeline, in interior leather bag
(12) it is in series with Solenoid ball valve on the pipeline and between solenoid directional control valve (8) B mouth, in outer leather bag (13) and solenoid directional control valve (8) A mouth
Between pipeline on be in series with Solenoid ball valve and one-way throttle valve (10).
3. the underwater robot buoyancy regulating device as described in claim 2 it is characterised in that：Described gear pump (2) and electromagnetism
Pipeline between reversal valve (8) is provided with the first pressure sensor (701) of detection gear pump oil-out pressure；Described outer leather bag
(13) pipeline and Solenoid ball valve between is provided with the second pressure sensor (702) of the detection intracapsular oil liquid pressure of crust.
4. the underwater robot buoyancy regulating device as described in claim 3 it is characterised in that：Described overflow valve (5), electromagnetism change
It is inserted valve to valve (8), Solenoid ball valve and one-way throttle valve (10), integrated together with first and second pressure transducer (701,702)
On described valve block (17).
5. the underwater robot buoyancy regulating device as described in claim 1 or 2 it is characterised in that：On described interior leather bag (12)
The linear displacement transducer (11) of leather bag in detection (12) inner fluid change in volume is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310655445.9A CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310655445.9A CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104691726A CN104691726A (en) | 2015-06-10 |
| CN104691726B true CN104691726B (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310655445.9A Expired - Fee Related CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
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| CN (1) | CN104691726B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN106628077A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle |
| CN108116644A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
| CN111277079A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | Underwater robot cooling device |
| CN110297268B (en) * | 2019-07-19 | 2024-02-23 | 自然资源部第二海洋研究所 | Automatic deep sea seismic signal acquisition device of heave |
| CN117465642A (en) * | 2023-11-13 | 2024-01-30 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201530467U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge-type buoyancy adjusting device used for underwater robot |
| CN201530466U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Self oil return-type buoyancy adjusting device used for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010035899B4 (en) * | 2010-08-31 | 2018-01-04 | Atlas Elektronik Gmbh | Unmanned underwater vehicle and method of operating an unmanned underwater vehicle |
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2013
- 2013-12-06 CN CN201310655445.9A patent/CN104691726B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201530467U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge-type buoyancy adjusting device used for underwater robot |
| CN201530466U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Self oil return-type buoyancy adjusting device used for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
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| CN104691726A (en) | 2015-06-10 |
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Granted publication date: 20170208 Termination date: 20171206 |