CN106477011B - A kind of submersible buoyancy adjustment and pressure compensating system and method - Google Patents
A kind of submersible buoyancy adjustment and pressure compensating system and method Download PDFInfo
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- CN106477011B CN106477011B CN201611126436.0A CN201611126436A CN106477011B CN 106477011 B CN106477011 B CN 106477011B CN 201611126436 A CN201611126436 A CN 201611126436A CN 106477011 B CN106477011 B CN 106477011B
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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
Abstract
A kind of submersible buoyancy adjustment and pressure compensating system and method; the system includes housing; shell is filled with the gas of certain pressure; more than two elastic balloons are installed on housing; gas filled with certain pressure in the elastic balloon; and through the protective shell with holes being coated on outside it with being in contact inside and outside housing, the pressure of institute's inflatable body differs in each elastic balloon, and the in vivo gas pressure of shell is less than the gas pressure in elastic balloon；Elastic water pocket, two-way seawater hydraulic pump and seawater electromagnetic valve are set in housing, and elastic water pocket communicates the Water transport between carrying out by above-mentioned two-way seawater hydraulic pump and seawater electromagnetic valve with the water environment outside housing；The motor being connected with two-way seawater hydraulic pump is also set up in housing, the control system for controlling motor and seawater electromagnetic valve work and the power supply for each device power supply in housing.Submersible buoyancy adjustment disclosed in this invention and pressure compensating system, buoyancy adjustment are changed from closed type oil hydraulic pressure to open type sea water hydraulic, are expanded buoyancy adjustment scope, are improved reliability and being compatible with the environment property.
Description
Technical field
The invention belongs to submersible buoyancy adjustment and pressure compensator field, more particularly to one kind in the field is applicable in
In the buoyancy adjustment and pressure compensating system and method for the diving under water device such as underwater robot, underwater observation platform.
Background technology
Currently, there are three types of schemes for the buoyancy-driven of submersible：
The first scheme is using the gases at high pressure in gas cylinder, squeezes the seawater in water tank, realizes buoyancy adjustment.This
The gas pressure of kind of scheme need to be higher than water depth pressure, when depth of water increase to a certain extent when, the volume needed for gas source generator
It sharply increases, energy consumption drastically, therefore can not be used for deep-sea.
Second scheme is using outer consistent lubricant capsule, interior pressure-resistant oil tank and fluid press pump.Oil is pressed directly into interior by water depth pressure
Pressure-resistant oil tank, displacement of volume reduce, and buoyancy reduces, and realize dive.When fluid press pump is outer from the press-in of interior pressure-resistant oil tank by hydraulic oil
During consistent lubricant capsule, displacement of volume increase, buoyancy increase, and weight is unchanged, realize and float.In order to ensure that hydraulic pump is not inhaled under abyssal environment
Sky, this scheme also need additional tank pressure compensation system（Such as booster pump or vacuum pump system）To compensate vacuum degree deficiency
Defect.So the buoyancy regulator control system of kind scheme is complicated, heavy, buoyancy regulation and control are limited, fluid press pump operating pressure is high（>=the depth of water
Pressure）.
The third scheme is that pressure tank is placed in observation platform, and volume is equal to required maximum buoyancy adjustment amount.It needs
When adjusting buoyancy, water is injected by the water discharge in water tank or from the external world with high pressure sea water hydraulic pump, weight is made to change,
Realize floating or dive.Though this buoyancy regulation and control scheme simple system, still needs to high-pressure pump（>=water depth pressure）And tank pressure
Compensation system, energy consumption is larger, and is realized that high-pressure trend is difficult by sea water hydraulic and limited.
In short, with the increase of Observational depth, the environmental pressure that submersible nacelle is born accordingly increases, prior art side
Case cannot well solve problem of the submersible in buoyancy-driven and pressure compensation etc..Therefore, it is necessary to explore buoyancy drive
Dynamic new departure, to improve buoyancy performance of control.
The content of the invention
The technical problems to be solved by the invention be just to provide a kind of submersible buoyancy adjustment and pressure compensating system and
Method.
The present invention adopts the following technical scheme that：
A kind of submersible buoyancy adjustment and pressure compensating system, the improvement is that：The system includes housing,
Shell is filled with the gas of certain pressure, is equipped with more than two elastic balloons on housing, in the elastic balloon filled with
The gas of certain pressure, and through the protective shell with holes being coated on outside it with being in contact inside and outside housing, each elastic gas
The pressure of intracapsular institute's inflatable body differs, and the in vivo gas pressure of shell is less than the gas pressure in elastic balloon；Housing
It is interior that elastic water pocket, two-way seawater hydraulic pump and seawater electromagnetic valve are set, and elastic water pocket passes through above-mentioned two-way sea water hydraulic
Pump and seawater electromagnetic valve communicate the Water transport between carrying out with the water environment outside housing；Also set up in housing with it is two-way
The motor that seawater hydraulic pump is connected controls the control system of motor and seawater electromagnetic valve work and is supplied for each device in housing
The power supply of electricity.
Further, the gas filled in housing and/or elastic balloon is inert gas.
Further, the protective shell one side with holes is located at outside housing, and one side is located in housing, and in its both sides table
More than one through hole is respectively distributed on face.
Further, the protective shell with holes is made of porous media material.
Further, the control system obtains the pressure value of water environment outside housing by pressure sensor.
Further, filter is set on the housing, seawater electromagnetic valve by above-mentioned filter and housing outside
Water environment communicates.
A kind of submersible buoyancy adjustment and pressure compensating method, using above-mentioned system, it is improved in that including
Following steps：
（1）In dive, control system control seawater electromagnetic valve, which is powered, connects external aqueous environment to the unidirectional of elastic water pocket
Water route, when the gas pressure in elastic balloon is more than or equal to external aqueous environment pressure, control system control motor rotates driving
The hydraulic pressure of external aqueous environment is entered elastic water pocket by two-way seawater hydraulic pump, and housing constancy of volume quality, which increases, realizes dive；
Volume increases after elastic water pocket obtains water, and the in vivo gas volume of shell reduces, pressure rise, in the in vivo gas of shell
Pressure gradually higher than gas pressure in each elastic balloon during, gas transmissive protective shell with holes is towards outside housing in housing
Direction squeezes each elastic balloon successively according to the order from low pressure to high pressure, to reduce the growth of gas pressure in housing speed
Degree realizes that pressure is adjusted；
When external water environment pressure starts above the gas pressure in elastic balloon, control system control motor stops turning
Unidirectional water route of the external aqueous environment to elastic water pocket is closed in dynamic, control seawater electromagnetic valve power-off, and external aqueous environment pressure can pass through
Protective shell with holes squeezes each elastic balloon successively towards direction in housing according to the order from low pressure to high pressure, subtracts system bulk
Small, buoyancy reduces, and realizes automatic dive；
（2）When floating, control system control seawater electromagnetic valve, which is powered, connects elastic water pocket to the unidirectional of external aqueous environment
Water route, control motor rotate and drive two-way seawater hydraulic pump that the hydraulic pressure of elastic water pocket is entered external aqueous environment, housing constancy of volume
Quality, which reduces, realizes floating；
When external water environment pressure begins lower than the gas pressure in each elastic balloon, elastic balloon is according to from high pressure
It is expanded to the order of low pressure towards direction outside housing, increases system buoyancy, auxiliary floats；
Volume reduces after elastic water pocket dehydration, and the in vivo gas volume of shell increases, pressure reduces, in each elastic balloon
Gas pressure is also reducing, such as in this in vivo gas pressure of process shell higher than the gas pressure in partial elastic air bag, housing
Interior gas transmissive protective shell with holes squeezes this partial elastic gas successively towards direction outside housing according to the order from low pressure to high pressure
Capsule to reduce the reduction speed of gas pressure in housing, realizes that pressure is adjusted.
Further, when floating, control system obtains the pressure value of water environment outside housing, such as shell by pressure sensor
The pressure value of external water environment is down to a certain setting value, then control system control motor stalls, control seawater electromagnetic valve are broken
Electrically disconnected elasticity water pocket is to the unidirectional water route of external aqueous environment.
The beneficial effects of the invention are as follows：
Submersible buoyancy adjustment disclosed in this invention and pressure compensating system, buoyancy adjustment is from closed type oil hydraulic pressure to opening
Formula sea water hydraulic changes, and expands buoyancy adjustment scope, improves reliability and being compatible with the environment property.It is simple in structure, by changing shell
The dive of the quality adjustment housing of body and floating, realize the dive to submersibles such as underwater robot, buoy, underwater gliders and
It floats and controls；Ocean pressure difference energy is efficiently used, greatly reduces buoyancy adjustment total amount, improves system effectiveness.With maximum working pressure (MWP)
About the two-way seawater hydraulic pump of water depth pressure 1/4 realizes the big latent deep lifting of submersible, reduces core element cost and processing
Manufacture difficulty.
Submersible buoyancy adjustment disclosed in this invention and pressure compensating system and method, installation is filled with certain on housing
The elastic balloon of pressed gas, elastic balloon are in contact with the in vivo gas of shell, are higher than elastic gas in the in vivo gas pressure of shell
During intracapsular gas pressure, towards housing outside direction squeeze elastic balloon, realize the near-linear regulation and control of gas pressure in housing, actively
Compensate housing inside and outside differential pressure；Elastic balloon is also in contact with the water environment outside housing, when submersible dive to water depth pressure is more than
After gas pressure in elastic balloon, under the action of water depth pressure, external aqueous environment pressure squeezes elasticity towards direction in housing
Air bag realizes the passive near-linear regulation and control of gas pressure in housing, compensates housing inside and outside differential pressure, and simultaneity factor volume reduces, real
Now automatic Non-energy-consumption dive.Active/passive regulation and control to buoyancy are realized by arrangement above, realize variable mass（Actively）And variable volume
（Passively）Buoyancy adjustment and the compensation of housing external and internal pressure greatly reduce housing and bear pressure difference, reduce housing wall thickness and weight.Diving
Device, even if electrical fault fails, in housing under the action of gas pressure, passes through seawater electromagnetic valve in the deep Yi Shang operation of partly latent
It to the unidirectional water route of external aqueous environment, realizes outside draining, mitigate weight, realize and float, reduce what submersible sinking was lost
Probability.
Description of the drawings
Fig. 1 is the structure diagram of the submersible buoyancy adjustment and pressure compensating system disclosed in the embodiment of the present invention 1；
Fig. 2 is that the position relationship in system disclosed in the embodiment of the present invention 1 between elastic balloon and protective shell with holes shows
It is intended to；
Fig. 3 is the structure diagram of the protective shell with holes made of porous media material；
Fig. 4 is variation of the enclosure interior gas pressure with external aqueous environment pressure of system disclosed in the embodiment of the present invention 1
Tendency chart.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1, as shown in Figure 1, present embodiment discloses a kind of submersible buoyancy adjustment and pressure compensating system, institutes
The system stated includes housing 5, the gas filled with certain pressure in housing 5, and more than two elastic balloons 6 are equipped on housing 5,
As shown in Fig. 2, the gas filled with certain pressure in the elastic balloon 6, and through the protective shell with holes being coated on outside it
61 inside and outside housing 5 with being in contact, and the pressure of institute's inflatable body differs in each elastic balloon 6, and the gas in housing 5
Body pressure is less than the gas pressure in elastic balloon 6, and in the present embodiment, the quantity of elastic balloon 6 is A, B, C, D tetra-, and
Internal gas pressure A ＜ B ＜ C ＜ D.
Elastic water pocket 4, two-way seawater hydraulic pump 2 and seawater electromagnetic valve 1 are set in housing 5, and elastic water pocket 4 is by upper
The water that the two-way seawater hydraulic pump 2 and seawater electromagnetic valve 1 stated communicate between carrying out with the water environment outside housing 5 passes
It passs；The motor 3 being connected with two-way seawater hydraulic pump 2 is also set up in housing 5, controls the control of motor 3 and the work of seawater electromagnetic valve 1
System processed and the power supply for each device power supply in housing 5.
Alternatively, in the present embodiment, the gas filled in housing 5 and/or elastic balloon 6 is
Inert gas.61 one side of protective shell with holes is located at outside housing, and one side is located in housing, and each in its both side surface
More than one through hole 611 is distributed with, when 611 quantity of through hole is more, each through hole 611 is evenly distributed on 61 table of protective shell with holes
Face forms satellite hole.As shown in figure 3, the protective shell with holes 61 can be directly made using porous media material.Described
Control system obtains the pressure value of 5 outer water environment of housing by pressure sensor 7.Filter 8, sea are set on the housing 5
Water solenoid valve 1 is communicated by above-mentioned filter 8 with the water environment outside housing 5.
The present embodiment also discloses a kind of submersible buoyancy adjustment and pressure compensating method, uses above-mentioned system, bag
Include following steps：
（1）In dive, control system control seawater electromagnetic valve, which is powered, connects external aqueous environment to the unidirectional of elastic water pocket
Water route, when the gas pressure in elastic balloon is more than or equal to external aqueous environment pressure, control system control motor rotates driving
The hydraulic pressure of external aqueous environment is entered elastic water pocket by two-way seawater hydraulic pump, and housing constancy of volume quality, which increases, realizes dive；
Volume increases after elastic water pocket obtains water, and the in vivo gas volume of shell reduces, pressure rise, in the in vivo gas of shell
Pressure gradually higher than gas pressure in A, B, C, D elastic balloon during, gas transmissive protective shell with holes is towards shell in housing
External direction squeezes each elastic balloon successively according to the order of A, B, C, D, to reduce the growth of gas pressure in housing speed
Degree realizes that pressure is adjusted；
As shown in figure 4, when external water environment pressure starts above the gas pressure in elastic balloon, control system control
Unidirectional water route of the external aqueous environment to elastic water pocket, external aqueous environment are closed in motor stalls, control seawater electromagnetic valve power-off
Pressure can pass through protective shell with holes and squeeze each elastic balloon successively according to the order of A, B, C, D towards direction in housing, make system
Volume reduces, and buoyancy reduces, and realizes automatic dive；
（2）When floating, control system control seawater electromagnetic valve, which is powered, connects elastic water pocket to the unidirectional of external aqueous environment
Water route, control motor rotate and drive two-way seawater hydraulic pump that the hydraulic pressure of elastic water pocket is entered external aqueous environment, housing constancy of volume
Quality, which reduces, realizes floating；
When external water environment pressure begins lower than the gas pressure in each elastic balloon, elastic balloon according to D, C, B,
The order of A is expanded towards direction outside housing, increases system buoyancy, and auxiliary floats；
Volume reduces after elastic water pocket dehydration, and the in vivo gas volume of shell increases, pressure reduces, in each elastic balloon
Gas pressure is also reducing, such as in this in vivo gas pressure of process shell higher than the gas pressure in partial elastic air bag, housing
Interior gas transmissive protective shell with holes squeezes this partial elastic air bag successively towards direction outside housing according to the order of A, B, C, D, with
Just the reduction speed of gas pressure in housing is reduced, realizes that pressure is adjusted.
Alternatively, in the present embodiment, when floating, control system is obtained by pressure sensor
The pressure value of the outer water environment of housing is taken, if the pressure value of water environment outside housing is down to a certain setting value, then control system control is electric
Machine stops operating, seawater electromagnetic valve power-off is controlled to disconnect elastic water pocket to the unidirectional water route of external aqueous environment
Method disclosed in the present embodiment, by installing four elastic balloons filled with certain pressure gas on housing,
Elastic balloon is in contact with the in vivo gas of shell, when the in vivo gas pressure of shell is higher than the gas pressure in elastic balloon, court
The outer direction of housing squeezes elastic balloon, realizes the near-linear regulation and control of gas pressure in housing, Active Compensation housing inside and outside differential pressure；Bullet
Property air bag be also in contact with the water environment outside housing, when submersible dive to water depth pressure be more than elastic balloon in gas pressure
Afterwards, under the action of water depth pressure, external aqueous environment pressure squeezes elastic balloon towards direction in housing, realizes gas pressure in housing
The passive near-linear regulation and control of power, compensate housing inside and outside differential pressure, and simultaneity factor volume reduces, and realizes automatic Non-energy-consumption dive.Diving
Device, even if electrical fault fails, in housing under the action of gas pressure, passes through seawater electromagnetic valve in the deep Yi Shang operation of partly latent
It to the unidirectional water route of external aqueous environment, realizes outside draining, mitigate weight, realize and float, reduce what submersible sinking was lost
Probability.
Claims (8)
1. a kind of submersible buoyancy adjustment and pressure compensating system, it is characterised in that：The system includes housing, in housing
Gas filled with certain pressure, is equipped with more than two elastic balloons on housing, filled with a level pressure in the elastic balloon
The gas of power, and through the protective shell with holes being coated on outside it with being in contact inside and outside housing, inflated in each elastic balloon
The pressure of body differs, and the in vivo gas pressure of shell is less than the gas pressure in elastic balloon；Elasticity is set in housing
Water pocket, two-way seawater hydraulic pump and seawater electromagnetic valve, and elastic water pocket passes through above-mentioned two-way seawater hydraulic pump and seawater electricity
Magnet valve communicates the Water transport between carrying out with the water environment outside housing；It is also set up in housing and two-way seawater hydraulic pump
The motor being connected, the control system for controlling motor and seawater electromagnetic valve work and the power supply for each device power supply in housing.
2. submersible buoyancy adjustment according to claim 1 and pressure compensating system, it is characterised in that：Housing and/or
The gas filled in elastic balloon is inert gas.
3. submersible buoyancy adjustment according to claim 1 and pressure compensating system, it is characterised in that：Described is with holes
Protective shell one side is located at outside housing, and one side is located in housing, and more than one through hole is respectively distributed in its both side surface.
4. submersible buoyancy adjustment according to claim 1 and pressure compensating system, it is characterised in that：Described is with holes
Protective shell is made of porous media material.
5. submersible buoyancy adjustment according to claim 1 and pressure compensating system, it is characterised in that：The control
System obtains the pressure value of water environment outside housing by pressure sensor.
6. submersible buoyancy adjustment according to claim 1 and pressure compensating system, it is characterised in that：The housing
Upper setting filter, seawater electromagnetic valve are communicated by above-mentioned filter with the water environment outside housing.
7. a kind of submersible buoyancy adjustment and pressure compensating method, the system described in usage right requirement 1, which is characterized in that
Include the following steps：
(1) in dive, control system control seawater electromagnetic valve, which is powered, connects unidirectional water route of the external aqueous environment to elastic water pocket,
When gas pressure in elastic balloon is more than or equal to external aqueous environment pressure, control system control motor, which rotates, drives two-way sea
The hydraulic pressure of external aqueous environment is entered elastic water pocket by Water Hydraulic Pump, and housing constancy of volume quality, which increases, realizes dive；
Volume increases after elastic water pocket obtains water, and the in vivo gas volume of shell reduces, pressure rise, in the in vivo gas pressure of shell
Gradually higher than gas pressure in each elastic balloon during, gas transmissive protective shell with holes is towards direction outside housing in housing
Each elastic balloon is squeezed successively according to the order from low pressure to high pressure, to reduce the growth rate of gas pressure in housing,
Realize that pressure is adjusted；
When external water environment pressure starts above the gas pressure in elastic balloon, control system control motor stalls,
Seawater electromagnetic valve power-off is controlled to close unidirectional water route of the external aqueous environment to elastic water pocket, external aqueous environment pressure can pass through with holes
Protective shell squeezes each elastic balloon successively towards direction in housing according to the order from low pressure to high pressure, reduces system bulk,
Buoyancy reduces, and realizes automatic dive；
(2) when floating, control system control seawater electromagnetic valve be powered connect elastic water pocket to the unidirectional water route of external aqueous environment,
Control motor, which rotates, drives two-way seawater hydraulic pump that the hydraulic pressure of elastic water pocket is entered external aqueous environment, and housing constancy of volume quality subtracts
Small realize is floated；
When external water environment pressure begins lower than the gas pressure in each elastic balloon, elastic balloon is according to from high pressure to low
The order of pressure is expanded towards direction outside housing, increases system buoyancy, and auxiliary floats；
Volume reduces after elastic water pocket dehydration, and the in vivo gas volume of shell increases, pressure reduces, the gas in each elastic balloon
Pressure is also reducing, such as in this in vivo gas pressure of process shell higher than the gas pressure in partial elastic air bag, gas in housing
Body can pass through protective shell with holes and squeeze this partial elastic air bag successively according to the order from low pressure to high pressure towards direction outside housing, with
Just the reduction speed of gas pressure in housing is reduced, realizes that pressure is adjusted.
8. submersible buoyancy adjustment according to claim 7 and pressure compensating method, it is characterised in that：When floating,
Control system by pressure sensor obtain housing outside water environment pressure value, as the pressure value of water environment outside housing be down to it is a certain
Setting value, then control system control motor stalls, control seawater electromagnetic valve power-off disconnect elastic water pocket to external aqueous environment
Unidirectional water route.
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| CN113479310B (en) * | 2021-08-16 | 2022-06-14 | 中国船舶科学研究中心 | Submersible underwater emergency self-rescue device |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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