CN106081025A - A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment - Google Patents
A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment Download PDFInfo
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- CN106081025A CN106081025A CN201610391107.2A CN201610391107A CN106081025A CN 106081025 A CN106081025 A CN 106081025A CN 201610391107 A CN201610391107 A CN 201610391107A CN 106081025 A CN106081025 A CN 106081025A
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- piston
- pressure
- control system
- hydraulic control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fuel-Injection Apparatus (AREA)
Abstract
The invention discloses a kind of UAV navigation using multi-level piston to carry out buoyancy adjustment, this device includes pressure hull, propeller, hydraulic control system and two three grades of piston components of set, two three grades of piston components of set are symmetrically installed in the bow of pressure hull and the classification piston adjusting cabin of stern, pressure oil is acted on piston and piston shaft at different levels by hydraulic control system, or it is drawn into sea water discharge in drain chamber by the displacement of piston, drain chamber is through with outside by the permeable hole on pressure hull, the regulation to aircraft buoyancy that hydraulic control system selects piston to work alone according to the degree of depth of aircraft or multi-level piston axle cooperation piston in combination has worked；Propeller is arranged on the stern of pressure hull.Low power consuming of the present invention, long operational time, accurately, strength of adjustment is big in regulation, and range of accommodation is wide, scalable trim attitude, and submerged depth is not limited by the depth of water.
Description
Technical field
The present invention relates to a kind of submarine navigation device utilizing piston to carry out buoyancy adjustment, belong to the design of submarine navigation device structure
Technical field.
Background technology
Submarine navigation device is widely used in the necks such as scientific research of seas, ocean engineering, exploration of ocean resources, military investigation
Territory.Can be by factors such as the most sea water advanced various, ocean temperatures, season, marine sites when UAV navigation navigates by water under water
Impact, or need to require to float or dive for task, now it is accomplished by a kind of dress for regulating buoyancy and gravitational equilibrium
Putting, i.e. buoyancy regulating device, it can realize UAV navigation automatically joining when different waters and different depth navigation
Flat, thus realize in different navigation waters Automatic adjusument, navigation attitude auxiliary adjustment, the suspension regulation of aircraft depthkeeping, safety
Floating a series of functions.Currently used buoyancy regulating device has a variety of, such as uses the mode of gas cylinder+ballast tank,
This kind of apparatus structure complexity is huge, and buoyancy adjustment ability is less than the 1% of submarine navigation device gross weight；Such as use propeller
Mode, this device needs continuous running, consumes energy huge；Such as using oil sac mode, this apparatus structure is simple, but regulation energy
Power is limited, and can not regulate trim attitude.Additionally, a kind of common piston suction sea water regulative mode, when regulation
Oil is 1:1 with the ratio of water, so regulating power is limited, strength of adjustment is little.
Summary of the invention
In view of this, the invention provides a kind of UAV navigation using multi-level piston to carry out buoyancy adjustment, should
Device low power consuming, long operational time, accurately, strength of adjustment is big in regulation, and range of accommodation is wide, scalable trim attitude, and dive is deep
Degree is not limited by the depth of water.
A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment, this device includes pressure hull, spiral
Oar, hydraulic control system and two set n level piston components, n is the integer more than or equal to 2；
The classification piston adjusting cabin that described two set n level piston components are symmetrically installed in the pressure hull of sail body two ends
In, pressure oil is acted on piston and piston shaft at different levels by hydraulic control system, is discharged or suction by sea water by the displacement of piston
Entering in drain chamber, drain chamber is through with outside by the permeable hole on pressure hull, and hydraulic control system is according to aircraft
The regulation to aircraft buoyancy that the degree of depth selects piston to work alone or multi-level piston axle cooperation piston in combination has worked；Described spiral shell
Rotation oar is arranged on the stern of pressure hull.
Further, described n level piston component use three grades, these three grades of piston components include piston cylinder, first stage piston, two
Level piston shaft, three grades of piston shaft, nozzle and ultrasonic range finder, described piston cylinder is cylindrical structural, its outer circumference surface and water
The pressure hull inwall of lower aircraft correspondence position closely cooperates, and piston cylinder has a center counterbore and two concentric annulars
Groove, the piston shaft of first stage piston coordinates with the center counterbore of piston cylinder, the end face outside of first stage piston and classification piston adjusting cabin
The cavity formed is drain chamber, and the cavity formed between inner side end and the piston cylinder end face of first stage piston is for controlling chamber；Two grades
Piston shaft and three grades of piston shaft coordinate with the cannelure of piston cylinder the most respectively, and above three parts cooperatively form with piston cylinder respectively
Closed cavity be working chamber, piston cylinder is installed on the position of corresponding each working chamber a nozzle and a ultrasonic ranging
Instrument, nozzle is used for injection pressure oil in working chamber, and ultrasonic range finder is used for measuring between piston and piston shaft and piston cylinder
Relative displacement；Each nozzle is connected with hydraulic control system respectively, and hydraulic control system provides hydraulic power supply, by pressure
Power oil independently drives first stage piston, second piston axle and the motion of three grades of piston shaft.
Further, described hydraulic control system includes main line, fuel reserve tank, vacuum transducer, low pressure valve, flow sensing
Device, hydraulic pump, pressure-regulating valve, check-valves, pressure transducer, high pressure valve, filter, electromagnetic valve and check valve, described oil storage
The bye-pass that case is drawn 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 sensing
Device, low pressure valve, flow transducer, pressure-regulating valve, high pressure valve and filter, another road be sequentially connected with hydraulic pump, check-valves and
Pressure transducer；The effect of described vacuum transducer is to measure the oil mass in fuel tank, prevents occurring leakage of oil generation oil mass in fuel tank
Too low situation occurs；Described electromagnetic valve and check valve are connected in parallel on by pipeline between nozzle and the main line of every first stage piston.
Further, in order to reduce the manufacturing cost of UAV navigation, pressure hull correspondence hydraulic control system portion
Divide and use containment vessel structure, containment vessel also has the permeable hole of ft connection.
Beneficial effect:
1, the discharge seawater bulk of the present invention and oil volume ratio are more than 1:1, and hydraulic control system utilizes a small amount of pressure oil
Substantial amounts of sea water can be discharged, thus substantially increase buoyancy adjustment ability.Working chamber and the direct shadow of size of internal fuel reserve tank
Ring buoyancy adjustment ability, its buoyancy adjustment ability can be improved by increasing working chamber and internal fuel reserve tank volume.
2, the present invention can utilize sail body two ends to install the classification piston surge bunker that piston component is formed with pressure hull,
Under the constant premise of total displacement of volume keeping two ends classification piston surge bunker, the volume of working fluid in the working chamber of regulation two ends
Form buoyancy moment, reach to regulate the purpose of the trim attitude of UAV navigation.
3, strength of adjustment of the present invention is big, and range of accommodation is wide, and classification thrust is widely used.Regulation efficiency is high, and decreases work
Make liquid volume, easy for installation and be easy to general layout.
4, the present invention is by being placed in liquid control system in pressure hull, and seals with cavity volume, cavity volume and protection
Cavity between shell is connected with outside sea water by permeable hole so that inside and outside containment vessel, pressure is equal, so that containment vessel
Material can not be stressed restriction, and the submerged depth of the present invention is not limited by the depth of water.Drain chamber by permeable hole with
Outside sea water connection so that the internal pressure sum of pistons at different levels is equal with external pressure, so that the dive of the present invention is deep
Degree is not limited by the depth of water.
5, ultrasonic range finder is used for the measurement of displacement of piston by the present invention, determines the body controlling intracavity liquid
Long-pending, monitor buoyancy size, accurately obtain buoyancy adjustment amount.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is view during first stage piston effect；
The view that Fig. 3 is second piston axle when jointly acting on first stage piston；
The view that Fig. 4 is two, three grades of piston shaft when jointly acting on first stage piston.
Wherein, 1-propeller, 2-stern, 3-drain chamber, 4-first stage piston, 5-control chamber, 6-second piston axle, 7-tri-grades
Piston shaft, 8-pressure hull, 9-electromagnetic valve, 10-check valve, 11-piston cylinder, 12-main line, 13-fuel reserve tank, 14-vacuum pass
Sensor, 15-low pressure valve, 16-flow transducer, 17-hydraulic pump, 18-pressure-regulating valve, 19-check-valves, 20-bow, 21-press
Force transducer, 22-high pressure valve, 23-filter, 24-hydraulic control system, 25-nozzle, 26-ultrasonic range finder, 27-are spacing
Block, 28-permeable hole.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
As shown in Figure 1, the invention provides a kind of UAV navigation using multi-level piston to carry out buoyancy adjustment,
This device includes pressure hull 8, propeller 1, hydraulic control system 24 and two three grades of piston components of set；
Two three grades of piston components of set are symmetrically installed on the bow 20 of pressure hull 8 and the classification piston adjusting cabin of stern 2
In, pressure oil is respectively acting on piston and piston shaft at different levels by hydraulic control system 24, is arranged by sea water by the displacement of piston
Going out or suction drain chamber 3, drain chamber 3 is through with outside by the permeable hole 28 on pressure hull 8, hydraulic control system 24 basis
The degree of depth of aircraft selects piston to work alone or multi-level piston axle coordinates piston in combination to work the tune to aircraft buoyancy
Joint；Propeller 1 is arranged on the stern of pressure hull 8.
As shown in accompanying drawing 2,3 and 4, three grades of piston components include piston cylinder 11, first stage piston 4,6, three grades of second piston axle
Piston shaft 7, nozzle 25 and ultrasonic range finder 26, described piston cylinder 11 is cylindrical structural, its outer circumference surface and underwater navigation
The interior profile of device is consistent, and piston cylinder 11 has a center counterbore and two concentric cannelures, the piston shaft of first stage piston 4 with
The center counterbore of body coordinates, and the cavity that the end face outside of first stage piston 4 is formed with classification piston adjusting cabin is drain chamber, one-level
The cavity formed between drive end inner side end and piston cylinder 11 end face of piston 4 is for controlling chamber 5；Second piston axle 6 and three grades
Piston shaft 7 cannelure with piston cylinder 11 the most respectively coordinates, the closing that above three parts cooperatively form with piston cylinder 11 respectively
Cavity is working chamber, and piston cylinder 11 is installed on the position of corresponding each working chamber a nozzle 25 and a ultrasonic range finder
26, nozzle 25 is used for injection pressure oil in working chamber, and ultrasonic range finder 26 is used for measuring first stage piston 4, second piston 6 and
Relative displacement between three grades of pistons 7 and piston cylinder 11, determines the volume of work intracavity liquid by measuring displacement；Each
Nozzle 25 is connected with hydraulic control system 24 the most respectively, and hydraulic control system 24 provides hydraulic power supply, independent by pressure oil
Drive first stage piston 4, second piston axle 6 and the motion of three grades of piston shaft 7.
Accompanying drawing 2 is view during first stage piston effect, and the region shallower in the degree of depth uses hydraulic control system 24
First stage piston 4 is driven to work；View when accompanying drawing 3 is first stage piston 4 and second piston axle 6 jointly acts on, medium
During depth areas, hydraulic control system 24 is used to simultaneously drive first stage piston 4 and second piston axle 6 cooperation；Accompanying drawing 4 is one
Level piston, second piston axle, view time three grades of piston shaft act on jointly, when big depth areas, use hydraulic pressure control
System 24 processed simultaneously drives first stage piston axle, second piston axle 6 and three grades of piston shaft 7 and jointly promotes piston reciprocating.
As shown in Figure 1, hydraulic control system 24 includes main line 12, fuel reserve tank 13, vacuum transducer 14, low pressure valve
15, flow transducer 16, hydraulic pump 17, pressure-regulating valve 18, check-valves 19, pressure transducer 21, high pressure valve 22, filter
23, electromagnetic valve 9 and check valve 10, the bye-pass that described fuel reserve tank 13 is drawn is connected in parallel on main line 12 after being divided into two-way, is divided into
On the pipeline of two-way, a road is sequentially connected in series vacuum transducer 14, low pressure valve 15, flow transducer 16, pressure-regulating valve 18, high pressure
Valve 22 and filter 23, another road is sequentially connected with hydraulic pump 17, check-valves 19 and pressure transducer 21；Described vacuum transducer
The effect of 14 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；Described electromagnetism
Valve 9 and check valve 10 are connected in parallel between the nozzle of every first stage piston and main line 12 by pipeline.
When needing the buoyancy increasing Unmanned Underwater Vehicle, open check-valves 19, utilize motor to drive water conservancy pump 17, will
Control liquid in fuel reserve tank 13 is filled with working chamber.Promote first stage piston 4 to move out, and then add Unmanned Underwater Vehicle
Displacement of volume, buoyancy increase；After reaching requirement, stopping motor, check valve 19 stops the control liquid in working chamber to reflux,
Keep buoyancy stable.Control intracavity equipped with compressible fluid.
When needing the buoyancy reducing Unmanned Underwater Vehicle, open electromagnetic valve 9, high pressure valve 22, low pressure valve 15, make work
The control liquid of intracavity flows back to fuel reserve tank by electromagnetic valve 9, filter 23, high pressure valve 22, pressure regulator 18, low pressure valve 15
13, so that first stage piston 4 moves inward, reduce the volume of UAV navigation, reduce buoyancy.
When needing the trim attitude regulating UAV navigation, classification piston in two ends can be made to adjust by above-mentioned regulative mode
The quality controlling liquid in the working chamber in joint cabin 28 is different, forms Trimming Moment, and then regulates the vertical of UAV navigation
Incline attitude.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the present invention's
Within protection domain.
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.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610391107.2A CN106081025A (en) | 2016-06-03 | 2016-06-03 | A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610391107.2A CN106081025A (en) | 2016-06-03 | 2016-06-03 | A kind of UAV navigation using multi-level piston to carry out buoyancy adjustment |
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| CN106081025A true CN106081025A (en) | 2016-11-09 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926654A (en) * | 2017-02-22 | 2017-07-07 | 浙江大学 | A kind of amphibious four rotor wing unmanned aerial vehicle |
| CN107187567A (en) * | 2017-05-22 | 2017-09-22 | 武汉横海海洋科技有限公司 | Underwater kit and its posture method of adjustment integrated with buoyancy |
| CN107725508A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of control method of the volume of fuel tank based on multistage hydraulic cylinder, apparatus and system |
| CN107878716A (en) * | 2017-10-30 | 2018-04-06 | 北京精密机电控制设备研究所 | A kind of buoyancy regulating device based on sea water pump |
| CN107985535A (en) * | 2016-10-26 | 2018-05-04 | 北京精密机电控制设备研究所 | A kind of high-precision buoyancy balancer based on telescopic multistage hydraulic cylinder |
| CN108181084A (en) * | 2017-12-11 | 2018-06-19 | 西北工业大学 | A kind of circular ring shape for sail body is adjustable injection apparatus |
| CN108609145A (en) * | 2016-12-09 | 2018-10-02 | 中国科学院沈阳自动化研究所 | A kind of control system for buoyancy regulating device |
| CN110316343A (en) * | 2019-07-19 | 2019-10-11 | 中国地质科学院 | A kind of buoyancy regulating device |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | Three-dimensional space maneuvering bionic robot fish and buoyancy adjusting device |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
| CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106926654A (en) * | 2017-02-22 | 2017-07-07 | 浙江大学 | A kind of amphibious four rotor wing unmanned aerial vehicle |
| CN107187567A (en) * | 2017-05-22 | 2017-09-22 | 武汉横海海洋科技有限公司 | Underwater kit and its posture method of adjustment integrated with buoyancy |
| CN107725508A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of control method of the volume of fuel tank based on multistage hydraulic cylinder, apparatus and system |
| CN107725508B (en) * | 2017-08-21 | 2019-05-24 | 北京精密机电控制设备研究所 | A kind of control method of the volume of fuel tank based on multistage hydraulic cylinder, apparatus and system |
| CN107878716A (en) * | 2017-10-30 | 2018-04-06 | 北京精密机电控制设备研究所 | A kind of buoyancy regulating device based on sea water pump |
| CN108181084A (en) * | 2017-12-11 | 2018-06-19 | 西北工业大学 | A kind of circular ring shape for sail body is adjustable injection apparatus |
| CN110316343A (en) * | 2019-07-19 | 2019-10-11 | 中国地质科学院 | A kind of buoyancy regulating device |
| CN110316343B (en) * | 2019-07-19 | 2024-04-30 | 中国地质科学院 | Buoyancy adjusting device |
| CN111086615A (en) * | 2019-12-16 | 2020-05-01 | 哈尔滨工程大学 | Three-dimensional space maneuvering bionic robot fish and buoyancy adjusting device |
| CN111619774A (en) * | 2020-05-29 | 2020-09-04 | 鹏城实验室 | Buoyancy adjusting device and underwater robot |
| CN112027038A (en) * | 2020-08-14 | 2020-12-04 | 天津大学 | Umbrella rib type underwater vehicle depth and attitude adjusting device and control method thereof |
| CN115465429A (en) * | 2022-09-22 | 2022-12-13 | 中国船舶科学研究中心 | Emergency drainage device with dual protection functions for underwater vehicle and drainage method |
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Application publication date: 20161109 |