CN105644742B - A kind of long-term fixed point vertical section observation type underwater robot - Google Patents
A kind of long-term fixed point vertical section observation type underwater robot Download PDFInfo
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- CN105644742B CN105644742B CN201410627537.0A CN201410627537A CN105644742B CN 105644742 B CN105644742 B CN 105644742B CN 201410627537 A CN201410627537 A CN 201410627537A CN 105644742 B CN105644742 B CN 105644742B
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Abstract
The invention belongs to underwater robot technical field, specifically a kind of long-term fixed point vertical section observation type underwater robot.Including the propulsion section being sequentially connected, stern buoyancy adjustment section, battery bay section, electronics bay section, bow buoyancy adjustment section and observation load section, section and observation load section is wherein promoted to use open frame structure, the observation load section carries the sensing equipment of oceanographic hydrological data observation, the propulsion section top is provided with satellite antenna, the stern buoyancy adjustment section, battery bay section, electronics bay section and bow buoyancy adjustment section are arranged in hermetically sealed pressure-resistant cabin, pass through bow buoyancy adjustment section and the two-way buoyancy adjustment of stern buoyancy adjustment section, realize the adjustment of underwater robot athletic posture and spot hover.There is the present invention high accuracy to repeat two-way buoyancy adjustment function, can realize the autonomous balanced and spot hover of underwater robot.
Description
Technical field
The invention belongs to underwater robot technical field, specifically a kind of long-term fixed point vertical section observation type is under water
Robot.Can long-distance navigation realized to target marine site the vertical section of oceanographic hydrological data carried out long-term (to be not less than 30
My god) fixed point Continuous Observation.
Background technology
It is the important means that people recognize ocean to the fixed point Continuous Observation of marine environment.With continuing to develop for science and technology,
Oceanographic observation equipment all achieves progress in terms of species, function and performance.Full-featured, dependable performance, high financial profit
It is strong request of the scientific research personnel to observation platform.
Oceanographic observation can be divided into ocean weather station observation and Underway measurements by observed pattern.Ocean weather station observation platform includes can be real
The buoy or subsurface buoy observed in existing ocean surface or seawater, the edge of achievable fixed point vertical section observation is tethered at cable and vertically transported
Dynamic captive hoistable platform, can be achieved preventing seabed base of seabed ocean weather station observation etc..This kind of observation platform can only obtain certain in ocean
The information of a bit, it is impossible to obtain continuous ocean space environmental information.Multiple sights must just be laid by obtaining large area marine site information
Platform is surveyed continuously to be worked long hours.Laying for platform is generally required by ship or aircraft execution, high to laying carrier media, is passed through
Ji property is poor.Underway measurements platform results in the consecutive variations situation of Ocean environment information in a certain marine site with space, this kind of
Observation platform includes scientific investigation ship, underwater robot, underwater glider, drifting buoy, section drifting buoy etc..Drifting buoy and cut open
Face drifting buoy is unpowered due to itself, can only be moved in the presence of ocean current, belongs to the observation platform of trailing type, and target is pointed to
Property is very poor.Scientific investigation ship can obtain a certain marine site Ocean environment information with time and spatial variations feelings by carrying different sensors
Condition, but for some dangerously exposed waters or Sensitive sea area, scientific investigation ship is apparently not good selection, and its economy is very poor.
Underwater glider, as driving power, is consumed energy low, voyage is long, can carry out large area marine site typically by the way of regulation buoyancy
Observation, lay good economy performance, but be due to that it can only be with zigzag or spiral motion, it pinpoints Continuous Observation ability very
Weak, anti-current ability is also not so good as the underwater robot using propeller.Traditional underwater robot mobility is good, can complete big
Part Underway measurements task, weak yet with its endurance, the time of controlling oneself is short, and can only lean on the navigation of itself to overcome certainly
The micro- positive buoyancy of body realizes depthkeeping or fixed high motion, it is impossible to continuous to the fixed point section progress of off-lying sea marine site to observe for a long time.
To complete the long-term observation task in a certain specified marine site of off-lying sea, obtain in a certain fixing point vertical section in the marine site
Ocean environment information changes over time situation and full wafer marine site Ocean environment information with spatial variations situation, it is necessary to design a kind of boat
Journey length, of long duration, mobility of controlling oneself are good, heave ability with autonomous, have ocean weather station observation and Underway measurements function, and energy concurrently
The oceanographic observation equipment of enough Continuous Observation tasks that the marine site is independently completed according to fixed route and mission.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of long-term fixed point vertical section observation type underwater
People.
To achieve these goals, the present invention uses following technical scheme：
A kind of long-term fixed point vertical section observation type underwater robot, including the propulsion section that is sequentially connected, stern buoyancy are adjusted
Section, battery bay section, electronics bay section, bow buoyancy adjustment section and observation load section, wherein promoting section and observation load section to use
Open frame structure, the observation load section carries the sensing equipment of oceanographic hydrological data observation, the propulsion section top
Provided with satellite antenna, the stern buoyancy adjustment section, battery bay section, electronics bay section and bow buoyancy adjustment section are arranged at hermetically sealed
In pressure-resistant cabin, by bow buoyancy adjustment section and the two-way buoyancy adjustment of stern buoyancy adjustment section, realize that underwater robot moves appearance
State is adjusted and spot hover.
Stern buoyancy adjustment section is identical with bow buoyancy adjustment segment structure, including hydraulic cylinder, seawater adjust cylinder and
The valve piston side of hydraulic system, wherein hydraulic cylinder is connected by take-off lever with the big piston that seawater adjusts cylinder, and the seawater is adjusted
Section cylinder is provided with the water in-out port connected with seawater, and the hydraulic cylinder is connected with hydraulic system, and the hydraulic system drives hydraulic pressure
The valve piston of cylinder moves back and forth, and drives the big reciprocating motion of the pistons of seawater regulation cylinder, so that seawater regulation cylinder passes through
Water in-out port suction seawater, and then realize underwater robot buoyancy adjustment.
The end of the valve piston opposite side take-off lever of the hydraulic cylinder is provided with displacement transducer, the stern buoyancy adjustment section
Inspection cover is equipped with the hermetically sealed pressure-resistant cabin of bow buoyancy adjustment section, the front end of the bow buoyancy adjustment section is provided with forecourt
There is rear spherical shell shell, the rear end of the stern buoyancy adjustment section.
The hydraulic system includes direct current generator, hydraulic pump, check valve, overflow valve, reversal valve, hydraulic control one-way valve, unidirectional
Flow speed control valve and pressure sensor, wherein hydraulic pump are two and are connected respectively with a direct current generator, after two hydraulic pressure parallels connection of pumps
By absorbing water oil feed line and draining oil feed line is connected with the two ends chamber of hydraulic cylinder respectively, the water suction oil feed line and row
Hydraulic control one-way valve and reversal valve are equipped with water oil feed line, the one-way speed-regulating valve is arranged on water suction oil feed line, two
The output end of hydraulic pump is equipped with a check valve, and two hydraulic pumps are connected by return line and overflow valve with fuel tank, described
Pressure sensor is arranged on the oil feed line after two hydraulic pressure parallels connection of pumps, total charge oil pressure for detecting hydraulic system.
The sensing equipment for the oceanographic hydrological data observation that the observation load section is carried includes acoustics fluid velocity profile instrument, temperature
Salt depth sensor, chlorophyll sensor, dissolved oxygen sensor and nephelometer, the observation load section are also equipped with bow traction
Ring, emergeney ejectioning device and the line-throwing appliance for reclaiming automatically, wherein bow bail and emergeney ejectioning device are respectively arranged at
Observe in the front end and bottom of load section, the open frame structure of the observation load section and be filled with buoyant material.
Control computer and control module are installed, the front end of the electronics bay section is provided with into water in the electronics bay section
From sink device, start water inlet when robot can not be reclaimed under water from sink device, water inlet self-destruction is sunk in hermetically sealed pressure-resistant cabin.Institute
State into water from sink device be priming system.
The battery bay section loads battery pack, battery management unit and power module, and wherein battery pack is suspended on hermetically sealed
Inside pressure-resistant cabin on the slide rail of the left and right sides.
Described propulsion section includes open frame and buoyant material, propeller, motor on open frame
Driver element, elevator, rudder, emergeney ejectioning device and underwater acoustic communication set, wherein elevator are horizontally disposed with, the rudder
Set with elevator square crossing, the elevator and rudder are connected with electric-motor drive unit, the propeller and emergent throwing
Carry and put the afterbody for being respectively arranged at open frame and bottom, buoyant material is filled with the space of the open frame.
The emergeney ejectioning device includes two blocks of electromagnet and one piece of foundary weight, wherein two pieces of electromagnet energizing magnetics,
Two blocks of electromagnet attract foundary weight by magnetive attraction, underwater robot is produced neutral buoyancy, make underwater robot normal work under water
Make；When emergency occurs in underwater robot, make two pieces of electromagnet dead electricity, electromagnetism ferromagnetism disappears, and foundary weight is made by gravity
With sinking, underwater robot produces positive buoyancy floating to the water surface.
Advantages of the present invention and beneficial effect are：
1. the present invention can be obtained and specify to specifying the oceanographic hydrological data in marine site to carry out long-term fixed point vertical section observation
The first-hand Ocean environment information in marine site, with important scientific meaning.
2. the present invention realizes vertical heave by two regulating mechanisms of buoyancy of bow stern, breaching conventional subsea robot can only
Perform the limitation that constant depth walks boat observation.
3. the present invention combines closely underwater platform technology and scientific research of seas demand, China can be obviously improved independently extra large
The ability and level of foreign detection equipment.
4. the present invention can be conducive to using sectional modular design, the different segmentations of multiple underwater robots with general
The maintenance and guarantee of system.
5. there is the present invention high accuracy to repeat two-way buoyancy adjustment function, the autonomous equilibrium of underwater robot can be realized
And spot hover.
It is the conventional diameter of heavy weight torpedo 6. housing diameter of the present invention is 534mm, its structure and technical maturity are high, property
Can be reliable.
Brief description of the drawings
Fig. 1 is axle surveys view of the invention；
Fig. 2 is front view of the invention；
Fig. 3 is front view of the invention；
Fig. 4 is rearview of the invention；
Fig. 5 is perspective view of the invention；
Fig. 6 is observation load section perspective view of the invention；
Bow, stern buoyancy adjustment section control principle schematic diagrames of the Fig. 7 for the present invention.
Wherein：1 is propeller, and 2 be rudder, and 3 be satellite antenna, and 4 is promote section, and 5 be stern buoyancy adjustment section, and 6 are
Stern inspection cover, 7 be battery bay section, and 8 be electronics bay section, and 9 be bow inspection cover, and 10 be the deep sensor of thermohaline, and 11 lead for bow
Draw ring, 12 be observation load section, and 13 be acoustics fluid velocity profile instrument, and 14 be preceding spherical shell, and 15 be bow buoyancy adjustment section, and 16 be rear ball
Shell, 17 be elevator, and 18 be battery pack I, and 19 be battery pack II, and 20 be control computer, and 21 be chlorophyll sensor, and 22 be molten
Lambda sensor is solved, 23 be nephelometer, and 24 be line-throwing appliance, and 25 be emergeney ejectioning device, and 26 be direct current generator, and 27 be hydraulic pump, 28
It is overflow valve for check valve, 29,30 be reversal valve, and 31 be hydraulic control one-way valve, and 32 be one-way speed-regulating valve, and 33 be pressure sensor,
34 be displacement transducer, and 35 be hydraulic cylinder, and 36 be that seawater adjusts cylinder, and 37 be water in-out port.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figures 1 to 6, the present invention is designed using sectional modular, including the propulsion being sequentially connected section 4, stern buoyancy
Section 5, battery bay section 7, electronics bay section 8, bow buoyancy adjustment section 15 and observation load section 12 are adjusted, wherein promoting section 4 and observation
Load section 12 uses open frame structure, and the observation load section 12 carries the sensing equipment of oceanographic hydrological data observation,
Propulsion section 4 top is provided with satellite antenna 3.The stern buoyancy adjustment section 5, battery bay section 7, electronics bay section 8 and bow are floating
Power regulation section 15 is arranged in hermetically sealed pressure-resistant cabin, passes through bow buoyancy adjustment section 15 and stern buoyancy adjustment 5 two-way buoyancy of section
Regulation, realizes the adjustment of underwater robot athletic posture and spot hover.
Each segmentation shell structure uses 534mm standard series, and the diameter series is that heavy weight torpedo often uses bore, and its structure is set
Meter, processing technology are highly developed.The straight bolt fastening structure of heavy weight torpedo is used between six segmentations, wherein observing load
The equipment installed in the Open architecture of section 12 and propulsion section 4 takes the sealing means of oil-filled compensation, and hermetically sealed pressure-resistant cabin is taken
High-strength aluminum alloy material, is sealed by O-ring seals, can meet maximum working depth 1000m technical requirements.
As shown in fig. 7, the stern buoyancy adjustment section 5 is identical with bow buoyancy adjustment 15 structures of section, including hydraulic cylinder
35th, seawater regulation cylinder 36 and hydraulic system, wherein the valve piston side of hydraulic cylinder 35 adjust cylinder 36 by take-off lever and seawater
Big piston is rigidly connected, and the seawater regulation cylinder 36 is provided with the water in-out port 37 connected with seawater, the hydraulic cylinder 35 and liquid
Pressure system is connected.The valve piston of the hydraulic system driving hydraulic cylinder 35 moves back and forth, and drives seawater to adjust cylinder 36
Big reciprocating motion of the pistons, so that seawater adjusts cylinder 36 by the suction seawater of water in-out port 37, and then realizes that underwater robot is floated
Power is adjusted.
The end of the valve piston opposite side take-off lever of the hydraulic cylinder 35 is provided with displacement transducer 34, and the stern buoyancy is adjusted
Stern inspection cover 6 and bow inspection cover 9 are respectively equipped with the hermetically sealed pressure-resistant cabin of section 5 and bow buoyancy adjustment section 15, it is convenient
Examination and maintenance are carried out to the section.The front end of the bow buoyancy adjustment section 15 is provided with preceding spherical shell 14, the stern buoyancy adjustment
There is rear spherical shell 16 rear end of section 5, and ball-type shell can improve housing voltage endurance capability.
The hydraulic system includes direct current generator 26, hydraulic pump 27, check valve 28, overflow valve 29, reversal valve 30, hydraulic control list
To valve 31, one-way speed-regulating valve 32 and pressure sensor 33, wherein hydraulic pump 27 is two and connected respectively with a direct current generator 26
Connect, connected after two parallel connections of hydraulic pump 27 by the two ends chamber of oil feed line and draining oil feed line respectively with hydraulic cylinder 35 that absorbs water
Connect, hydraulic control one-way valve 31 and reversal valve 30, the unidirectional speed governing are equipped with the water suction oil feed line and draining oil feed line
Valve 32 is arranged on water suction oil feed line.The output end of two hydraulic pumps 27 is equipped with a check valve 28, two hydraulic pumps 27
It is connected by return line and overflow valve 29 with fuel tank, the pressure sensor 33 is arranged at the confession after two parallel connections of hydraulic pump 27
On oil pipe line, total charge oil pressure for detecting hydraulic system.
In two hydraulic pumps 27, one is high-pressure low-flow, and another is low pressure and mass flow.When hydraulic system starts, lead to
Cross two hydraulic pumps 27 and provide hydraulic oil to hydraulic system simultaneously, improve response speed.With the rise of hydraulic system pressure, when
When hydraulic system pressure exceedes the operating pressure of low-lift pump, low-lift pump is stopped, and is individually provided from high-pressure pump to hydraulic system
Hydraulic oil, until reaching the system pressure that overflow valve 29 is set.Hydraulic system drives two hydraulic pumps respectively by bi-motor 26
27 produce high pressure liquid force feed, and the valve piston of driving hydraulic cylinder 35 moves back and forth, so as to drive the big work of seawater regulation cylinder 36
Plug, which is realized, moves back and forth suction seawater, realizes the effect of underwater robot buoyancy adjustment.By controlling reversal valve 30 to adjust small work
The direction of motion of plug, realizes the bidirectional modulation of buoyancy.Displacement transducer 34 can accurately detect the stroke of valve piston, so as to realize floating
The accurate detection of power regulated quantity.Because bow buoyancy adjustment section 15 is identical therefore interchangeable with the structure of stern buoyancy adjustment section 5.
As shown in fig. 6, the sensing equipment for the oceanographic hydrological data observation that the observation load section 12 is carried includes acoustics
The deep sensor 10 of fluid velocity profile instrument 13, thermohaline, chlorophyll sensor 21, dissolved oxygen sensor 22 and nephelometer 23, the observation
Load section 12 is also equipped with bow bail 11, emergeney ejectioning device 25 and the line-throwing appliance 24 for reclaiming automatically, wherein bow
Bail 11 and emergeney ejectioning device 25 are respectively arranged at the front end and bottom of observation load section 12, the observation load section 12
Buoyant material is filled with open frame structure.The observation load section 12 fills the knot of buoyant material using open frame
Structure, each equipment directly bears external water pressure.
When being reclaimed to underwater robot, recovery personnel remote control on lash ship starts line-throwing appliance 24 and dished out pull rope,
Recovery personnel have salvaged pull rope on lash ship, and underwater robot is recovered on lash ship.Robot failure nothing under water
When method is floating to the water surface, jettison system 25 abandons foundary weight, and underwater robot gravity reduces, and floats up to the water surface by natural buoyancy, then
Position of the lash ship where it, and turn on lights sign position are informed by satellite antenna and wireless aerial.
As shown in figure 5, control computer 20 and other control modules are installed in the electronics bay section 8, including optical fiber top
Spiral shell, electronic compass, the network switch, Inertial Measurement Unit etc..The front end of the electronics bay section 8 is provided with into water from sink device,
When underwater robot can not be reclaimed, water filling is sent by radio or satellite and drowned oneself instruction, the water inlet makes entirely from sink device
The damaged inner inlet of pressure-resistant cabin is sealed, realizes that underwater robot self-destruction is sunk.Described intake from sink device is priming system, the control
Computer 20 processed and other control modules are prior art.
The battery bay section 7 loads battery pack, battery management unit and power module, and the energy is provided for underwater robot,
Including 24VDC, 48VDC, 150VDC etc..Battery pack is suspended on inside hermetically sealed pressure-resistant cabin on the slide rail of the left and right sides, removes electricity
After sub- bay section 8 by slide rail push-and-pull battery pack realize being rapidly assembled and disassembled for battery pack.
Described propulsion section 4 includes open frame and buoyant material, propeller 1, electricity on open frame
Machine driver element, elevator 17, rudder 2, emergeney ejectioning device 25 and underwater acoustic communication set, wherein elevator 17 are horizontally disposed with,
The rudder 2 is set with the square crossing of elevator 17, and the elevator 17 and rudder 2 are connected with electric-motor drive unit.Rise
Dropping rudder 17 includes left elevator and right elevator, and the left elevator and right elevator are by two steering wheel independent controls, the side
It is linkage rudder to rudder 2, by a servos control.Steering wheel component uses oil-filled sealing means, and driving correspondence rudder plate controls machine under water
Device people's posture.The propeller 1 and emergeney ejectioning device 25 are respectively arranged at afterbody and the bottom of open frame, the opening
Buoyant material is filled with the space of formula framework.
The emergeney ejectioning device 25 includes two blocks of electromagnet and one piece of foundary weight, wherein two blocks of electromagnet are powered and produce magnetic
Property, two blocks of electromagnet attract foundary weight by magnetive attraction, underwater robot is produced neutral buoyancy, it is ensured that underwater robot is under water just
Often work；When emergency occurs in underwater robot, make two pieces of electromagnet dead electricity, electromagnetism ferromagnetism disappears, and foundary weight passes through weight
Power effect is sunk, and underwater robot produces positive buoyancy floating to the water surface.
Stabilizer front end highest point is provided with satellite antenna 3 in the propulsion section 4, and the satellite antenna 3 includes GPS and iridium
Star positions antenna, and other antennas for realizing communication function, realizes the surface communications and positioning function of underwater robot.With sight
Survey as load section 12, promote section 4 to there are also installed emergeney ejectioning device 25, and buoyant material is installed at space position and provide floating
Power.Propeller 1 is ducted propeller, and the propeller 1 uses oil-filled sealing means.
The present invention the course of work be：
Long-term observation underwater robot is hung into water from operation lash ship first, and autonomous shipping is to predetermined observation under water
Point (is required, floating-point can be set halfway and receives satellite correction to the water surface) according to navigation accuracy, in observation station dive to pre- depthkeeping
Degree, makes underwater robot be in zero surplus buoyancy state, under water machine by stern buoyancy adjustment section 5 and bow buoyancy adjustment section 15
Device people swims in the setting depth of water (such as 700m) with the park mode hovering of minimum power consumption, and the water velocity of the depth is smaller, from
And ensure that position excursion of the underwater robot during dormancy is little.After the dormancy of setting time, underwater robot enters
Work pattern is observed, underwater robot is made by the buoyancy regulating system of stern buoyancy adjustment section 5 and bow buoyancy adjustment section 15
Positive buoyancy is produced, underwater robot spirally floats according to top ocean current distribution situation contexture by self path, observed during floating
Load section 12 is started working, and related oceanographic hydrological element is measured and recorded.Float to behind sea, sent out by iridium satellite link
Send this time observation data.Due to that may deviate from by action of ocean current, underwater robot in floating-upward process and transmission data procedures
Former observation station, if offset distance exceedes predictive error, the autonomous shipping of underwater robot is returned setting observation station, then readjusted floating
Power, makes underwater robot system be changed into negative buoyancy force, and underwater robot adjusts course and with mode dive of gliding.During dive,
The power-off of observation load section 12 is stopped.(it can and so on be not less than 4 times daily, most long continuously to work 30 days), until long
Phase ocean weather station observation tasks carrying is finished.Complete after whole observation mission, underwater robot autonomous navigation to predetermined recovery point, float
And positional information is sent, wait to be recycled.Lash ship is after, and remote control starts line-throwing appliance 24, and recovery personnel pick up the pull rope dished out
Afterwards, underwater robot is lifted by crane and reclaimed.
In addition to ocean weather station observation, long-term observation underwater robot can also be used for performing Underway measurements task.Except ocean weather station observation
Outside, long-term observation underwater robot can also be used for performing Underway measurements task.Line-throwing appliance 24 is used 2013 7 in the present embodiment
Disclosed in the moon 3, Publication No. 103185484A, the Chinese invention patent application of Application No. 201110445814.2 is " a kind of
Underwater robot reclaims automatic line-throwing appliance ".
Claims (8)
1. a kind of long-term fixed point vertical section observation type underwater robot, it is characterised in that：Including the propulsion section being sequentially connected
(4), stern buoyancy adjustment section (5), battery bay section (7), electronics bay section (8), bow buoyancy adjustment section (15) and observation load section
(12), wherein promoting section (4) and observation load section (12) to use open frame structure, the observation load section (12) carries sea
The sensing equipment of foreign-water text data observation, described propulsion section (4) top is provided with satellite antenna (3), the stern buoyancy adjustment
Section (5), battery bay section (7), electronics bay section (8) and bow buoyancy adjustment section (15) are arranged in hermetically sealed pressure-resistant cabin, pass through bow
Portion buoyancy adjustment section (15) and stern buoyancy adjustment section (5) two-way buoyancy adjustment, realize the adjustment of underwater robot athletic posture with
Spot hover；
The stern buoyancy adjustment section (5) is identical with bow buoyancy adjustment section (15) structure, is adjusted including hydraulic cylinder (35), seawater
Cylinder (36) and hydraulic system are saved, the wherein valve piston side of hydraulic cylinder (35) adjusts the big work of cylinder (36) by take-off lever and seawater
Plug connection, the seawater regulation cylinder (36) is provided with the water in-out port (37) connected with seawater, the hydraulic cylinder (35) and hydraulic pressure
System is connected, and the valve piston of the hydraulic system driving hydraulic cylinder (35) moves back and forth, and drives seawater to adjust cylinder (36)
Big reciprocating motion of the pistons so that seawater regulation cylinder (36) is by water in-out port (37) suction seawater, and then realize machine under water
Device people's buoyancy adjustment；
The hydraulic system include direct current generator (26), hydraulic pump (27), check valve (28), overflow valve (29), reversal valve (30),
Hydraulic control one-way valve (31), one-way speed-regulating valve (32) and pressure sensor (33), wherein hydraulic pump (27) are two and respectively with one
The connection of individual direct current generator (26), after two hydraulic pumps (27) are in parallel by absorb water oil feed line and draining oil feed line respectively with liquid
Be equipped with the two ends chambers connection of cylinder pressure (35), the water suction oil feed line and draining oil feed line hydraulic control one-way valve (31) and
Reversal valve (30), the one-way speed-regulating valve (32) is arranged on water suction oil feed line, and the output end of two hydraulic pumps (27) is all provided with
There is a check valve (28), two hydraulic pumps (27) are connected by return line and overflow valve (29) with fuel tank, the pressure is passed
Sensor (33) is arranged on the oil feed line after two hydraulic pumps (27) parallel connections, total charge oil pressure for detecting hydraulic system.
2. the long-term fixed point vertical section observation type underwater robot as described in claim 1, it is characterised in that：The hydraulic cylinder
(35) end of valve piston opposite side take-off lever is provided with displacement transducer (34), the stern buoyancy adjustment section (5) and bow
Inspection cover is equipped with the hermetically sealed pressure-resistant cabin of buoyancy adjustment section (15), before the front end of the bow buoyancy adjustment section (15) is provided with
There is rear spherical shell (16) spherical shell (14), the rear end of the stern buoyancy adjustment section (5).
3. the long-term fixed point vertical section observation type underwater robot as described in claim 1, it is characterised in that：The observation is carried
The sensing equipment for the oceanographic hydrological data observation that lotus section (12) is carried includes the deep sensor of acoustics fluid velocity profile instrument (13), thermohaline
(10), chlorophyll sensor (21), dissolved oxygen sensor (22) and nephelometer (23), the observation load section (12) are also equipped with
Bow bail (11), emergeney ejectioning device (25) and the line-throwing appliance (24) for reclaiming automatically, wherein bow bail (11)
It is respectively arranged at the front end and bottom of observation load section (12) with emergeney ejectioning device (25), observation load section (12) is opened
Put and buoyant material is filled with formula frame structure.
4. the long-term fixed point vertical section observation type underwater robot as described in claim 1, it is characterised in that：The electronic compartment
Control computer (20) and control module be installed in section (8), the front end of the electronics bay section (8) is provided with into water and drowned oneself dress
Put, start water inlet when robot can not be reclaimed under water from sink device, water inlet self-destruction is sunk in hermetically sealed pressure-resistant cabin.
5. the long-term fixed point vertical section observation type underwater robot as described in claim 4, it is characterised in that：The water inlet is certainly
Sink device is priming system.
6. the long-term fixed point vertical section observation type underwater robot as described in claim 1, it is characterised in that：The battery flat
Section (7) loads battery pack, battery management unit and power module, and wherein battery pack is suspended on left and right two inside hermetically sealed pressure-resistant cabin
On the slide rail of side.
7. the long-term fixed point vertical section observation type underwater robot as described in claim 1, it is characterised in that：Described propulsion
Section (4) includes open frame and buoyant material on open frame, propeller (1), electric-motor drive unit, lifting
Rudder (17), rudder (2), emergeney ejectioning device (25) and underwater acoustic communication set, wherein elevator (17) are horizontally disposed with, the direction
Rudder (2) is set with elevator (17) square crossing, and the elevator (17) and rudder (2) are connected with electric-motor drive unit, institute
State propeller (1) and emergeney ejectioning device (25) is respectively arranged at afterbody and the bottom of open frame, the open frame
Space in be filled with buoyant material.
8. the long-term fixed point vertical section observation type underwater robot as described in claim 3 or 7, it is characterised in that：It is described to answer
Anxious jettison system (25) includes two blocks of electromagnet and one piece of foundary weight, wherein two pieces of electromagnet energizing magnetics, two blocks of electromagnet
Foundary weight is attracted by magnetive attraction, underwater robot is produced neutral buoyancy, makes underwater robot normal work under water；When machine under water
When emergency occurs in device people, make two pieces of electromagnet dead electricity, electromagnetism ferromagnetism is disappeared, and foundary weight is sunk by Action of Gravity Field, under water
Robot produces positive buoyancy floating to the water surface.
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| CN201410627537.0A CN105644742B (en) | 2014-11-10 | 2014-11-10 | A kind of long-term fixed point vertical section observation type underwater robot |
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| CN201410627537.0A CN105644742B (en) | 2014-11-10 | 2014-11-10 | A kind of long-term fixed point vertical section observation type underwater robot |
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| CN105644742B true CN105644742B (en) | 2017-08-04 |
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