CN106081025A - A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment - Google Patents

Abstract

The invention discloses an unmanned underwater vehicle that adopts multi-stage pistons for buoyancy adjustment. The device includes a pressure-resistant shell, a propeller, a hydraulic control system and two sets of three-stage piston assemblies. The two sets of three-stage piston assemblies are symmetrical. Installed in the grading piston adjustment cabins at the bow and stern of the pressure-resistant shell, the hydraulic control system applies pressure oil to the pistons and the piston shafts of all levels, and the seawater is discharged or sucked into the drainage chamber through the displacement of the pistons, and the water is drained. The chamber communicates with the outside through the water-permeable hole on the pressure-resistant shell. The hydraulic control system selects the piston to work independently or the multi-stage piston shaft to cooperate with the piston combination to complete the adjustment of the buoyancy of the aircraft according to the depth of the aircraft; the propeller is installed in the pressure-resistant shell. of the stern. The invention has the advantages of low energy consumption, long running time, accurate adjustment, large adjustment force, wide adjustment range, adjustable pitch attitude, and the diving depth is not limited by water depth.

Description

An unmanned underwater vehicle using multi-stage pistons for buoyancy adjustment

technical field

The invention relates to an underwater vehicle that uses a piston to adjust buoyancy, and belongs to the technical field of underwater vehicle structure design.

Background technique

Underwater vehicles are widely used in marine scientific research, marine engineering, marine resource exploration, military investigation and other fields. Unmanned underwater vehicles will be affected by various factors such as sea depth, sea temperature, seasons, sea areas and other factors when navigating underwater, or they need to float or dive out of mission needs. At this time, a buoyancy regulator is needed. The device balanced with gravity, that is, the buoyancy adjustment device, can realize the automatic trimming of the unmanned underwater vehicle when navigating in different waters and different depths, so as to realize the self-adaptive adjustment of different navigating waters, the auxiliary adjustment of navigating attitude, and the fixed depth of the vehicle. A series of functions of suspension adjustment and safe floating. There are many kinds of buoyancy adjustment devices currently in use, such as the use of high-pressure gas cylinders + ballast water tanks. In this way, the device needs to operate continuously, which consumes a lot of energy; for example, the oil bag method is used, the device has a simple structure, but its adjustment ability is limited, and the pitch attitude cannot be adjusted. In addition, there is also a common adjustment method for piston suction and discharge of seawater. During adjustment, the ratio of oil to water is 1:1, so the adjustment ability is limited and the adjustment force is small.

Contents of the invention

In view of this, the present invention provides an unmanned underwater vehicle that adopts multi-stage pistons for buoyancy adjustment. The device has low energy consumption, long running time, accurate adjustment, large adjustment force, wide adjustment range, and adjustable pitch Attitude, and the dive depth is not limited by water depth.

An unmanned underwater vehicle adopting multi-stage pistons for buoyancy adjustment, the device includes a pressure-resistant shell, a propeller, a hydraulic control system and two sets of n-stage piston assemblies, where n is an integer greater than or equal to 2;

The two sets of n-level piston assemblies are symmetrically installed in the grading piston adjustment cabins in the pressure-resistant shells at both ends of the navigation body. The hydraulic control system applies pressure oil to the pistons and the piston shafts of each level, and the seawater is discharged through the displacement of the pistons. Or sucked into the drainage chamber, the drainage chamber is connected to the outside through the permeable hole on the pressure-resistant shell. The hydraulic control system selects the piston to work independently or the multi-stage piston shaft to cooperate with the piston combination to complete the adjustment of the buoyancy of the aircraft according to the depth of the aircraft. ; The propeller is installed on the stern of the pressure hull.

Further, the n-stage piston assembly adopts three stages, and the three-stage piston assembly includes a piston cylinder, a primary piston, a secondary piston shaft, a tertiary piston shaft, a nozzle and an ultrasonic range finder, and the piston cylinder is cylindrical structure, its outer peripheral surface is closely matched with the inner wall of the pressure-resistant shell at the corresponding position of the underwater vehicle, the piston cylinder has a central counterbore and two concentric annular grooves, the piston shaft of the primary piston and the central counterbore of the piston cylinder Cooperate, the cavity formed between the outer end surface of the first-stage piston and the grading piston adjustment chamber is the drainage chamber, the cavity formed between the inner end surface of the first-stage piston and the end surface of the piston cylinder is the control chamber; the second-stage piston shaft and the third-stage piston shaft Then cooperate with the annular groove of the piston cylinder respectively, and the closed cavity formed by the cooperation of the above three parts with the piston cylinder is the working chamber, and a nozzle and an ultrasonic rangefinder are installed on the position corresponding to each working chamber on the piston cylinder. It is used to inject pressure oil into the working chamber, and the ultrasonic rangefinder is used to measure the relative displacement between the piston and the piston shaft and the piston cylinder; each nozzle is connected to the hydraulic control system, and the hydraulic control system provides the hydraulic power source. The pressure oil independently drives the movement of the primary piston, secondary piston shaft and tertiary piston shaft.

Further, the hydraulic control system includes a main pipeline, an oil storage tank, a vacuum sensor, a low pressure valve, a flow sensor, a hydraulic pump, a pressure regulating valve, a check valve, a pressure sensor, a high pressure valve, a filter, a solenoid valve and a one-way valve , the branch pipeline drawn from the oil storage tank is divided into two lines and then connected in parallel to the main line. On the pipeline divided into two lines, a vacuum sensor, a low-pressure valve, a flow sensor, a pressure regulating valve, a high-pressure valve and a filter are connected in series on one line, and the other line is connected in sequence. hydraulic pump, check valve and pressure sensor; the function of the vacuum sensor is to measure the oil volume in the fuel tank to prevent oil leakage in the fuel tank and the occurrence of low oil volume; the electromagnetic valve and the check valve pass through the pipeline It is connected in parallel between the nozzle of each piston and the main pipeline.

Furthermore, in order to reduce the manufacturing cost of the unmanned underwater vehicle, the part of the pressure-resistant shell corresponding to the hydraulic control system adopts a protective shell structure, and the protective shell is also provided with external communication holes.

Beneficial effect:

1. The ratio of the volume of discharged seawater to the volume of oil is greater than 1:1, and the hydraulic control system can discharge a large amount of seawater with a small amount of pressure oil, thereby greatly improving the buoyancy adjustment capability. The size of the working chamber and the internal oil storage tank directly affects the buoyancy adjustment ability, and the buoyancy adjustment ability can be improved by increasing the volume of the working chamber and the internal oil storage tank.

2. The present invention can use the grading piston adjustment chamber formed by installing the piston assembly and the pressure-resistant shell at both ends of the navigation body to adjust the working fluid in the working chamber at both ends under the premise of keeping the total drainage volume of the grading piston adjustment chamber at both ends unchanged. The volume of the body forms a buoyant moment to achieve the purpose of adjusting the pitch attitude of the unmanned underwater vehicle.

3. The present invention has large adjustment force, wide adjustment range, graded thrust and wide application. The adjustment efficiency is high, and the volume of the working liquid is reduced, and the installation is convenient and the overall arrangement is convenient.

4. The present invention places the liquid control system in the pressure-resistant shell and seals it with a cavity. The cavity between the cavity and the protective shell communicates with the external seawater through the permeable hole, so that the pressure on both sides of the protective shell is equal, thereby The material of the protective shell can not be limited by pressure, so that the diving depth of the present invention is not limited by water depth. The drainage chamber is communicated with the external seawater through the permeable hole, so that the sum of the internal pressures of the pistons at all levels is equal to the external pressure, so that the diving depth of the present invention is not limited by the water depth.

5. In the present invention, the ultrasonic range finder is used to measure the moving distance of the piston, to determine the volume of the liquid in the control chamber, to monitor the buoyancy, and to accurately obtain the buoyancy adjustment amount.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the state when the primary piston acts;

Fig. 3 is a schematic diagram of the state when the secondary piston shaft and the primary piston act together;

Fig. 4 is a schematic diagram of the state when the second and third stage piston shafts and the first stage piston act together.

Among them, 1-propeller, 2-stern, 3-drain chamber, 4-first-stage piston, 5-control chamber, 6-second-stage piston shaft, 7-third-stage piston shaft, 8-pressure-resistant shell, 9- Solenoid valve, 10-check valve, 11-piston cylinder, 12-main pipeline, 13-oil storage tank, 14-vacuum sensor, 15-low pressure valve, 16-flow sensor, 17-hydraulic pump, 18-pressure regulating valve, 19-check valve, 20-bow, 21-pressure sensor, 22-high pressure valve, 23-filter, 24-hydraulic control system, 25-nozzle, 26-ultrasonic rangefinder, 27-limit block, 28 - Permeable holes.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in accompanying drawing 1, the present invention provides a kind of unmanned underwater vehicle that adopts multistage piston to carry out buoyancy adjustment, and this device comprises pressure-resistant housing 8, propeller 1, hydraulic control system 24 and two sets of three-stage pistons components;

Two sets of three-stage piston assemblies are symmetrically installed in the pressure-resistant housing 8 in the bow 20 and the stern 2 in the graded piston adjustment cabin. The hydraulic control system 24 acts on the pistons and the piston shafts of each stage respectively. The displacement of sea water is discharged or sucked into the drainage chamber 3, and the drainage chamber 3 is connected to the outside through the permeable hole 28 on the pressure-resistant shell 8. The hydraulic control system 24 selects the piston to work independently or the multi-stage piston shaft to cooperate with the piston combination according to the depth of the aircraft. The work is completed to adjust the buoyancy of the aircraft;

As shown in accompanying drawing 2,3 and 4, three-stage piston assembly comprises piston cylinder 11, one-stage piston 4, two-stage piston shaft 6, three-stage piston shaft 7, nozzle 25 and ultrasonic rangefinder 26, and described piston cylinder 11 is a cylindrical structure, and its outer peripheral surface is consistent with the inner surface of the underwater vehicle. The piston cylinder 11 has a central counterbore and two concentric annular grooves. Cooperate, the cavity formed between the outer end face of the first-stage piston 4 and the grading piston adjustment chamber is the drainage chamber, the cavity formed between the inner end face of the driving end of the first-stage piston 4 and the end face of the piston cylinder 11 is the control chamber 5; the second-stage piston The shaft 6 and the three-stage piston shaft 7 are matched with the annular grooves of the piston cylinder 11 respectively. The closed cavity formed by the cooperation of the above three components with the piston cylinder 11 is the working chamber, and the piston cylinder 11 corresponds to the position of each working chamber. Install a nozzle 25 and an ultrasonic range finder 26, the nozzle 25 is used to inject pressure oil into the working chamber, the ultrasonic range finder 26 is used to measure the primary piston 4, the secondary piston 6, the tertiary piston 7 and the piston cylinder 11 The relative displacement between them is determined by measuring the moving distance to determine the volume of the liquid in the working chamber; each nozzle 25 is connected to the hydraulic control system 24 respectively, and the hydraulic control system 24 provides a hydraulic power source to independently drive the first-stage piston 4, Movement of secondary piston shaft 6 and tertiary piston shaft 7.

Accompanying drawing 2 is a schematic diagram of the state when the first-stage piston is in action, and the hydraulic control system 24 is used to drive the first-stage piston 4 to work in a relatively shallow area; accompanying drawing 3 is the state when the first-stage piston 4 and the second-stage piston shaft 6 act together Schematic diagram, in the medium depth area, the hydraulic control system 24 is used to simultaneously drive the first-stage piston 4 and the second-stage piston shaft 6 to work together; Figure 4 shows the state of the first-stage piston, the second-stage piston shaft, and the third-stage piston shaft when they work together Schematic diagram, in the large depth area, the hydraulic control system 24 is used to simultaneously drive the first-stage piston shaft, the second-stage piston shaft 6 and the third-stage piston shaft 7 to jointly push the piston to reciprocate.

As shown in Figure 1, the hydraulic control system 24 includes a main pipeline 12, an oil storage tank 13, a vacuum sensor 14, a low pressure valve 15, a flow sensor 16, a hydraulic pump 17, a pressure regulating valve 18, a check valve 19, a pressure sensor 21, High-pressure valve 22, filter 23, solenoid valve 9 and check valve 10, the branch pipeline drawn from the oil storage tank 13 is divided into two paths and then connected in parallel on the main pipeline 12, and the vacuum sensor 14, Low-pressure valve 15, flow sensor 16, pressure regulating valve 18, high-pressure valve 22 and filter 23, another road connects hydraulic pump 17, check valve 19 and pressure sensor 21 successively; The effect of described vacuum sensor 14 is to measure the pressure in the oil tank. The amount of oil is used to prevent oil leakage from occurring in the oil tank, and the oil amount is too low;

When the buoyancy of the unmanned underwater vehicle needs to be increased, the check valve 19 is opened, and the motor is used to drive the hydraulic pump 17 to fill the control liquid in the oil storage tank 13 into the working chamber. Push the primary piston 4 to move outward, thereby increasing the drainage volume of the unmanned underwater vehicle and increasing the buoyancy; when the requirements are met, the motor is stopped, and the one-way valve 19 prevents the backflow of the control liquid in the working chamber to keep the buoyancy stable. The control chamber contains a compressible fluid.

When it is necessary to reduce the buoyancy of the unmanned underwater vehicle, open the solenoid valve 9, the high-pressure valve 22, and the low-pressure valve 15, so that the control liquid in the working chamber passes through the solenoid valve 9, the filter 23, the high-pressure valve 22, and the pressure regulator 18 , The low-pressure valve 15 flows back to the oil storage tank 13, so that the first-stage piston 4 moves inward, which reduces the volume of the unmanned underwater vehicle and reduces the buoyancy.

When it is necessary to adjust the pitch attitude of the unmanned underwater vehicle, the qualities of the control liquids in the working chambers of the graduated piston adjustment cabins 28 at both ends can be made different according to the above-mentioned adjustment method, forming a pitch moment, and then adjusting the pitching moment of the unmanned underwater vehicle. The pitch attitude of the aircraft.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. one kind uses the UAV navigation that multi-level piston carries out buoyancy adjustment, it is characterised in that this device includes pressure Housing, propeller, hydraulic control system and two set n level piston components, n is the integer more than or equal to 2；

Described two set n level piston components are symmetrically installed in the classification piston adjusting cabin in the pressure hull of sail body two ends, liquid Pressure oil is acted on piston and piston shaft at different levels by pressure control system, is discharged or the row of being drawn into by sea water by the displacement of piston In water cavity, drain chamber is through with outside by the permeable hole on pressure hull, and hydraulic control system is selected according to the degree of depth of aircraft Select piston to work alone or multi-level piston axle coordinates piston in combination to work the regulation to aircraft buoyancy；Described propeller is pacified It is contained in the stern of pressure hull.

2. the UAV navigation using multi-level piston to carry out buoyancy adjustment as claimed in claim 1, it is characterised in that institute Stating n level piston component and use three grades, these three grades of piston components include piston cylinder, first stage piston, second piston axle, three grades of pistons Axle, nozzle and ultrasonic range finder, described piston cylinder is cylindrical structural, its outer circumference surface and submarine navigation device correspondence position Pressure hull inwall closely cooperates, and piston cylinder has a center counterbore and two concentric cannelures, the piston of first stage piston Axle coordinates with the center counterbore of piston cylinder, and the cavity that the end face outside of first stage piston is formed with classification piston adjusting cabin is draining Chamber, the cavity formed between inner side end and the piston cylinder end face of first stage piston is for controlling chamber；Second piston axle and three grades of pistons Axle coordinates with the cannelure of piston cylinder the most respectively, and the closed cavity that above three parts cooperatively form with piston cylinder respectively is work Chamber, piston cylinder is installed on the position of corresponding each working chamber a nozzle and a ultrasonic range finder, and nozzle is used for work Making injection pressure oil in chamber, ultrasonic range finder is used for measuring the relative displacement between piston and piston shaft and piston cylinder；Each Nozzle is connected with hydraulic control system the most respectively, and hydraulic control system provides hydraulic power supply, is independently driven one by pressure oil Level piston, second piston axle and the motion of three grades of piston shaft.

3. the UAV navigation using multi-level piston to carry out buoyancy adjustment as claimed in claim 1 or 2, its feature exists In, described hydraulic control system includes main line, fuel reserve tank, vacuum transducer, low pressure valve, flow transducer, hydraulic pump, pressure Regulation valve, check-valves, pressure transducer, high pressure valve, filter, electromagnetic valve and check valve, the bye-pass that described fuel reserve tank is drawn It is connected in parallel on main line after being divided into two-way, is divided into a road on the pipeline of two-way and is sequentially connected in series vacuum transducer, low pressure valve, flow biography Sensor, pressure-regulating valve, high pressure valve and filter, another road is sequentially connected with hydraulic pump, check-valves and pressure transducer；Described very The effect of empty sensor is to measure the oil mass in fuel tank, prevents occurring the situation generation that leakage of oil generation oil mass is too low in fuel tank；Institute State between nozzle and the main line that electromagnetic valve and check valve are connected in parallel on every first stage piston by pipeline.

4. the UAV navigation using multi-level piston to carry out buoyancy adjustment as claimed in claim 3, described pressure hull Corresponding hydraulic control system part uses containment vessel structure, and containment vessel also has the permeable hole of ft connection.