CN106628078B - Buoyancy regulating device for deep-sea underwater glider - Google Patents
Buoyancy regulating device for deep-sea underwater glider Download PDFInfo
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- CN106628078B CN106628078B CN201611266337.2A CN201611266337A CN106628078B CN 106628078 B CN106628078 B CN 106628078B CN 201611266337 A CN201611266337 A CN 201611266337A CN 106628078 B CN106628078 B CN 106628078B
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- pressure
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- feed screw
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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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetic Pumps, Or The Like (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention discloses the buoyancy regulating device for deep-sea underwater glider, including pressure hull, low pressure pump group part is installed in described pressure hull, outer oil sac is fixed on pressure hull, low pressure pump group part includes the piston cylinder that sequentially coaxially line is fixedly linked, bearing block, gear cap and lead screw guide rails, two bearings are installed in bearing block, feed screw nut is arranged in the inner ring of two bearings and the inner ring of the outer wall of feed screw nut and two bearings is fixedly linked, driving gear is arranged on the output shaft of DC motor assembly in driving gear set, the driven gear coordinated is engaged with driving gear to be fixedly linked with feed screw nut, feed screw nut is connected with leading screw screw flight, the movable end of linear displacement transducer is connected with piston.Structure of the present invention can realize the function that gateway oil pressure is provided to high-pressure plunger pump, in turn simplify internal structure, save inner space, reduce oil circuit jointing, reduce disclosure risk.
Description
Technical field
The present invention relates to the buoyancy regulating device of a kind of buoyancy regulating device, more particularly, to deep-sea underwater glider.
Background technology
The confidential marine monitoring for realizing long sequential of underwater gliding relies primarily on buoyancy and provides driving force, therefore buoyancy regulating device
It is the core component in whole equipment, the working depth of the device also determine the working depth of aerodone；Deep-sea underwater gliding
Machine is mainly used in the marine monitoring of great depth and long sequential, due to its special job specification, therefore requires the buoyancy adjustment
Device can be in deep-sea reliability service；Existing deep sea glider buoyancy regulating device mostly uses low pressure gear pump and high-pressure column
The mode that plug pump group is closed realizes, due to the combinations of two kinds of different pumps, not only structure installation is complicated but also needs more pipeline to connect
Connect, easily cause the leakage of hydraulic oil；Low pressure gear pump and high-pressure plunger pump can not realize the accurate metering of hydraulic oil, so
Need extra interior oil sac detection means.
The content of the invention
It is an object of the invention to overcome the shortcomings of prior art, there is provided one kind realizes High voltage output, ensure that work
Depth, also achieve the accurate detection of suction oil mass and reduce the buoyancy adjustment for deep-sea underwater glider of disclosure risk
Device.
In order to achieve the above object, the technical solution adopted by the present invention is：
For the buoyancy regulating device of deep-sea underwater glider, including pressure hull, installed in described pressure hull
There is low pressure pump group part, outer oil sac is fixed on pressure hull, and described low pressure pump group part includes what sequentially coaxially line was fixedly linked
Piston cylinder, bearing block, gear cap and lead screw guide rails, two bearings are installed in described bearing block, in two described axles
An axle sleeve is provided between holding, feed screw nut is arranged in the inner ring of two bearings and the outer wall of feed screw nut and two axles
The inner ring held is fixedly linked, and driving gear is arranged on the output shaft of DC motor assembly in driving gear set, with described master
The driven gear that moving gear engagement coordinates is fixedly linked by screw and feed screw nut, described feed screw nut and a leading screw spiral shell
Bar is threadedly coupled, and the piston in one end and piston cylinder of described leading screw screw rod is fixedly linked and the other end passes through driven gear
And be connected with sliding before and after lead screw guide rails, retention pivot is fixed on the other end of leading screw screw rod, the equal energy in retention pivot both ends
Being slided in enough guide grooves set in lead screw guide rails, the movable end of linear displacement transducer is connected with piston, and the one of low pressure pipe
End is connected with the rodless cavity of piston cylinder and the other end is connected with the T mouths of a two-position three way magnetic valve, described two
The P mouths of three-way magnetic valve are connected with the T mouths of bi-bit bi-pass Unidirectional solenoid valve, and the W mouths of described two-position three way magnetic valve pass through
The path inside magnetic valve integrated package is arranged on successively with pressure sensor, high-pressure plunger pump and check valve to be connected, it is described
The port of export of check valve is connected by high-pressure oil pipe with outer oil sac, and the P mouths of described bi-bit bi-pass Unidirectional solenoid valve pass through pipeline
High-pressure oil pipe between outer oil sac and check valve connects, and described high-pressure plunger pump passes through shaft coupling phase with direct current generator
Even, described controller and DC motor assembly, direct current generator, linear displacement transducer, pressure sensor, two-position three-way electromagnetic
Valve and bi-bit bi-pass Unidirectional solenoid valve are connected by control line respectively, and described pressure sensor is believed to controller output pressure
Number, described controller adjusts the working condition of DC motor assembly according to the pressure signal of reading, and controller is straight by reading
The amount of exercise signal of the piston of linear movement pick-up output, the oil absorption or oil drain quantity of outer oil sac are calculated, wait arrival default
When oil absorption or oil drain quantity, controller is to two-position three way magnetic valve and bi-bit bi-pass Unidirectional solenoid valve output action signal.
Compared with prior art, the invention has the advantages that：
Structure of the present invention can realize the function that gateway oil pressure is provided to high-pressure plunger pump, in turn simplify internal structure,
Inner space is saved, oil circuit jointing is reduced, reduces disclosure risk.High voltage output is realized, ensure that working depth,
Also achieve the accurate detection of suction oil mass.
Brief description of the drawings
Fig. 1 is the stereogram of the buoyancy regulating device for deep-sea underwater glider of the present invention；
Fig. 2 is the sectional view of the device shown in Fig. 1；
Fig. 3 is the oil circuit control figure of the solenoid valve block in the device shown in Fig. 2；
Fig. 4 is the structural representation of the retention pivot part being connected with lead screw guide rails in the device shown in Fig. 1.
Embodiment
With reference to specific embodiments and the drawings, the present invention will be described in detail.
The buoyancy regulating device for deep-sea underwater glider of the present invention as shown in drawings, including pressure hull 9,
Low pressure pump group part 2 is installed, outer oil sac 7 is fixed on pressure hull 9, described low pressure pump group part 2 in described pressure hull 9
Piston cylinder 11, bearing block 12, gear cap 14 and the lead screw guide rails 21 being fixedly linked including sequentially coaxially line, in described bearing block
Two bearings 26 are installed in 12, are provided with an axle sleeve 19 between two described bearings 26, feed screw nut 24 is arranged on
In the inner ring of two bearings 26 and the inner ring of the outer wall of feed screw nut 24 and two bearings 26 is fixedly linked, driving gear set 20
Middle driving gear is arranged on the output shaft of DC motor assembly 16, and the driven gear coordinated is engaged with described driving gear and is led to
Cross screw to be fixedly linked with feed screw nut 24, described feed screw nut is threadedly coupled with a leading screw screw rod 25, described leading screw
Piston 23 in one end and piston cylinder of screw rod 25 be fixedly linked and the other end through driven gear and with before lead screw guide rails 21
Sliding is connected afterwards, and retention pivot 22 is fixed on the other end of leading screw screw rod 25, and the both ends of retention pivot 22 can be in leading screw
Slided in the guide groove set on guide rail 21, the rotation of leading screw screw rod 25 is limited by guide groove, described lead screw guide rails 21 pass through spiral shell
Nail is fixed in gear cap 14, and the movable end of linear displacement transducer 17 is connected with piston 23, described linear displacement transducer
17 are connected with controller 1 and to the amount of exercise of controller output piston, according to piston diameter and move distance so as to calculating suction
Oil mass.
One end of low pressure pipe 10 is connected with the rodless cavity of piston cylinder 11 and the other end and a two-position three-way electromagnetic
The T mouths of valve 3 are connected, and the P mouths of described two-position three way magnetic valve 3 are connected with the T mouths of bi-bit bi-pass Unidirectional solenoid valve 4, institute
The W mouths for the two-position three way magnetic valve 3 stated by be arranged on the path inside magnetic valve integrated package 18 successively with pressure sensor 8,
High-pressure plunger pump 5 and check valve 6 are connected, and the port of export of described check valve 6 is connected by high-pressure oil pipe 27 with outer oil sac 7,
The P mouths of described bi-bit bi-pass Unidirectional solenoid valve 4 are connected by the high-pressure oil pipe 27 between pipeline and outer oil sac 7 and check valve 6
It is logical.Described high-pressure plunger pump 5 is connected with direct current generator 15 by shaft coupling 13.
Described controller 1 and DC motor assembly 16, direct current generator 15, linear displacement transducer 17, pressure sensor
8th, two-position three way magnetic valve 3 and bi-bit bi-pass Unidirectional solenoid valve 4 are connected by control line respectively.Described pressure sensor 8
To the output pressure signal of controller 1, described controller 1 adjusts the work of DC motor assembly 16 according to the pressure signal of reading
State, so as to the rotating speed for controlling leading screw screw rod to keep appropriate, so as to ensure that the inlet pressure of high-pressure plunger pump 5 is constant.Controller 1
The amount of exercise signal of the piston exported by reading linear displacement transducer 17, the oil absorption or oil drain quantity of outer oil sac are calculated,
During Deng reaching default oil absorption or oil drain quantity, controller 1 is to two-position three way magnetic valve 3 and bi-bit bi-pass Unidirectional solenoid valve 4
Output action signal (describes) see the device course of work.
Described controller 1 according to aerodone float and dive need control direct current generator 15 act, only upper
When floating, controller 1 just controls direct current generator 15 to start, and realizes oil extraction, and outer oil sac becomes big, and buoyancy becomes big.During aerodone dive, directly
Stream motor 15 does not work.
The course of work of the present apparatus is as follows：
Oil extraction process：(hydraulic oil is by being discharged to the process of outer oil sac inside pressure hull)
Setup Controller 1 controls DC motor assembly 16 to act, and motor drives feed screw nut to revolve by driving gear set 20
Turn, while stop bearing pin 22 limits leading screw screw rod 25 and rotated, so as to realize the conversion for rotating to linear motion.Leading screw screw rod 25
One end is connected with piston 23, therefore (piston is to the left for the last linear motion for showing as piston 23 of the linear motion of leading screw screw rod 25
Motion).Finally realize the hydraulic fluid pressure increase in piston cylinder 11.
Setup Controller 1 controls two-position three way magnetic valve 3 to act, and ensures that hydraulic oil passes through two-position three way magnetic valve and high pressure
Plunger pump oiler turns on, so as to provide Initial Entry pressure for high-pressure plunger pump.
Setup Controller 1 controls direct current generator 15 to act, and so as to control high-pressure plunger pump 5 to act, ensures oil-out high pressure
Output, hydraulic oil is discharged in outer oil sac 7 by check valve 6 afterwards.The outer volumetric expansion of oil sac 7, the increase of equipment buoyancy.
The one end of linear displacement transducer 17 is connected with piston 23, by 17 record so as to learn the amount of exercise of piston, from
And extrapolate the exact value of oil drain quantity.
Oil-absorbing process：(process that hydraulic oil is returned to inside pressure hull by outer oil sac)
Setup Controller 1 controls direct current unit 16 to act, two-position three way magnetic valve 3 and bi-bit bi-pass Unidirectional solenoid valve 4
Action, with the action (piston lateral movement to the right) of low-pressure plunger pump group part 2, hydraulic oil passes through magnetic valve 3 and 4 in outer oil sac 7
It is back in piston cylinder 11.The move distance of piston is recorded by linear displacement transducer 17, so as to calculate how much is oil absorption.
Claims (1)
1. the buoyancy regulating device for deep-sea underwater glider, it is characterised in that：Including pressure hull, in described pneumatic shell
Low pressure pump group part is installed in vivo, outer oil sac is fixed on pressure hull, and described low pressure pump group part is consolidated including sequentially coaxially line
Surely connected piston cylinder, bearing block, gear cap and lead screw guide rails, are provided with two bearings, described in described bearing block
Two bearings between be provided with an axle sleeve, feed screw nut is arranged in the inner ring of two bearings and the outer wall of feed screw nut
It is fixedly linked with the inner ring of two bearings, driving gear is arranged on the output shaft of DC motor assembly in driving gear set, with
The driven gear that described driving gear engagement coordinates is fixedly linked by screw and feed screw nut, described feed screw nut and one
Individual leading screw screw flight connects, and the piston in one end and piston cylinder of described leading screw screw rod is fixedly linked and the other end passes through
Driven gear is simultaneously connected with sliding before and after lead screw guide rails, and retention pivot is fixed on the other end of leading screw screw rod, the retention pivot
Slided in the guide groove that both ends can be set in lead screw guide rails, the movable end of linear displacement transducer is connected with piston, low pressure
One end of oil pipe is connected with the rodless cavity of piston cylinder and the other end is connected with the T mouths of a two-position three way magnetic valve, institute
The P mouths for the two-position three way magnetic valve stated are connected with the T mouths of bi-bit bi-pass Unidirectional solenoid valve, described two-position three way magnetic valve
W mouths are connected with pressure sensor, high-pressure plunger pump and check valve successively by being arranged on the path inside magnetic valve integrated package,
The port of export of described check valve is connected by high-pressure oil pipe with outer oil sac, and the P mouths of described bi-bit bi-pass Unidirectional solenoid valve lead to
The high-pressure oil pipe crossed between pipeline and outer oil sac and check valve connects, and described high-pressure plunger pump passes through shaft coupling with direct current generator
Device is connected, controller and DC motor assembly, direct current generator, linear displacement transducer, pressure sensor, two-position three way magnetic valve
And bi-bit bi-pass Unidirectional solenoid valve is connected by control line respectively, described pressure sensor is believed to controller output pressure
Number, described controller adjusts the working condition of DC motor assembly according to the pressure signal of reading, and controller is straight by reading
The amount of exercise signal of the piston of linear movement pick-up output, the oil absorption or oil drain quantity of outer oil sac are calculated, wait arrival default
When oil absorption or oil drain quantity, controller is to two-position three way magnetic valve and bi-bit bi-pass Unidirectional solenoid valve output action signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266337.2A CN106628078B (en) | 2016-12-31 | 2016-12-31 | Buoyancy regulating device for deep-sea underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266337.2A CN106628078B (en) | 2016-12-31 | 2016-12-31 | Buoyancy regulating device for deep-sea underwater glider |
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| Publication Number | Publication Date |
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| CN106628078A CN106628078A (en) | 2017-05-10 |
| CN106628078B true CN106628078B (en) | 2018-02-09 |
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| CN201611266337.2A Active CN106628078B (en) | 2016-12-31 | 2016-12-31 | Buoyancy regulating device for deep-sea underwater glider |
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| CN107618643A (en) * | 2017-09-11 | 2018-01-23 | 河海大学 | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible |
| CN107804442B (en) * | 2017-10-24 | 2019-10-29 | 深圳乐智机器人有限公司 | Displacement detecting high-precision modularization buoyancy changes device and underwater robot |
| CN107902060B (en) * | 2017-12-18 | 2024-03-08 | 天津瀚海蓝帆海洋科技有限公司 | Ball anti-reversing device |
| CN108313245B (en) * | 2018-04-13 | 2023-07-18 | 上海海洋大学 | Driving system for buoyancy adjustment seawater plunger pump of full-sea-depth submersible |
| CN110844025B (en) * | 2018-08-20 | 2024-10-01 | 中电科海洋信息技术研究院有限公司 | Buoyancy adjusting device of underwater robot |
| CN110297268B (en) * | 2019-07-19 | 2024-02-23 | 自然资源部第二海洋研究所 | Automatic deep sea seismic signal acquisition device of heave |
| CN110606181B (en) * | 2019-10-28 | 2021-06-25 | 嘉兴市亚联科技有限公司 | Underwater robot dive degree of depth self-interacting device |
| CN112896476A (en) * | 2021-02-06 | 2021-06-04 | 西北工业大学 | Large-depth underwater glider buoyancy adjusting device |
| CN115071928B (en) * | 2022-06-23 | 2024-04-12 | 衡州机器(杭州)有限公司 | Buoyancy adjusting device for inner diaphragm and outer diaphragm |
| CN117092779B (en) * | 2023-10-19 | 2024-01-02 | 北京瑞控信科技股份有限公司 | Large-caliber quick-reflecting mirror with six-degree-of-freedom locking function and control method thereof |
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| CN106628078A (en) | 2017-05-10 |
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Effective date of registration: 20201231 Address after: No. 28-a, innovation and entrepreneurship Park, 4668 Xinbei Road, Tanggu Ocean Science Park, Binhai New Area, Tianjin, 300457 Patentee after: Tianjin Haiyi Technology Co.,Ltd. Address before: 300457 Binhai New Area, Tianjin Patentee before: Tianjin Deepfar Ocean Technology Co.,Ltd. |
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