CN108016588A - A kind of passive pneumatic type buoyancy compensation device of underwater robot - Google Patents
A kind of passive pneumatic type buoyancy compensation device of underwater robot Download PDFInfo
- Publication number
- CN108016588A CN108016588A CN201711490612.3A CN201711490612A CN108016588A CN 108016588 A CN108016588 A CN 108016588A CN 201711490612 A CN201711490612 A CN 201711490612A CN 108016588 A CN108016588 A CN 108016588A
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- Prior art keywords
- underwater robot
- air bag
- pneumatic
- type
- gas
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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
Abstract
The present invention relates to a kind of underwater robot with passive pneumatic type buoyancy compensation device, outer leather bag is installed on bearing shell, outside underwater robot, as interior air bag, exhaust pipe and return line will be parallel between inside and outside air bag in the underwater robot cabin for having taken out vacuum in advance；Exhaust pipe be equipped with by power source drive diaphragm pump and can only check valve that outwards leather bag flows, return line is equipped with cut-off type solenoid valve；Gas in cabin by being inflated in the outside air bag in gap between check valve, bacterial type lid and bearing shell, and then increases the buoyancy of underwater robot by membrane pumped；Gas in outer air bag is flowed back in cabin, and then reduce the buoyancy of underwater robot by the pressure differential in outer air bag and cabin by the gap between bacterial type lid and bearing shell, cut-off type solenoid valve.The present invention has the characteristics that simple in structure, efficient, safe and reliable, small power consumption.
Description
Technical field
The present invention relates to underwater robot buoyancy compensation device, the passive pneumatic type of specifically a kind of underwater robot
Buoyancy compensation device.
Background technology
Underwater robot is that the mankind explore the most important means in ocean, extensively as a kind of subaqueous survey, workbench
It is general to apply in scientific research of seas, ocean engineering, exploration of ocean resources, rescue salvaging, habitata, marine organisms research with chasing after
The fields such as track.Usual underwater robot, which needs periodically to expose the surface, is connected realization communication and positioning with satellite, to ensure underwater machine
The working status of device people's normal table.Density of sea water can change with change in depth, the buoyant state of underwater robot
Also it can therewith change, and then influence the motion state of underwater robot.When underwater robot needs the water surface with satellite communication,
Need to increase the buoyancy of itself to ensure that antenna can expose the surface.Therefore, modularization, compact-sized, reliable and stable is studied
Underwater robot buoyancy compensation device, plays an important roll to improving underwater robot overall performance.
The content of the invention
Ensure the reliable job requirement of water surface communication security to meet that the antenna of underwater robot can expose the surface, this
The purpose of invention is to provide a kind of underwater robot with passive pneumatic type buoyancy compensation device.
The purpose of the present invention is what is be achieved through the following technical solutions：
The present invention includes the outer air bag and bacterial type lid being separately mounted in underwater robot nacelle, pneumatic joint and driving member
Part, wherein outer air bag is installed on bearing shell, the bacterial type lid be located at the inside of outer air bag, and by the pneumatic joint and
The bearing shell connection of underwater robot, leaves the gap of ventilating air between the bacterial type lid and the bearing shell；The drive
Dynamic element includes check valve, Pneumatic three-way connector, cut-off type solenoid valve and diaphragm pump, and installation is equipped with underwater robot nacelle
Plate, the check valve, Pneumatic three-way connector, cut-off type solenoid valve and diaphragm pump are separately mounted on the installing plate, the diaphragm pump
Exhaust outlet be connected by check valve with a port of Pneumatic three-way connector, the air entry and underwater robot of the diaphragm pump
Inside cabin connects, and one end of the cut-off type solenoid valve is connected with second port of Pneumatic three-way connector, the other end and underwater machine
Device people inside cabin connects, and the 3rd port of the Pneumatic three-way connector is connected with pneumatic joint；The underwater robot inside cabin
Gas is by membrane pumped, by between the check valve, Pneumatic three-way connector, pneumatic joint, bacterial type lid and bearing shell
Inflated in the outside air bag in gap, and then increase the buoyancy of underwater robot；Gas in the outer air bag outer air bag with it is underwater
The pressure differential effect of robot inside cabin is lower to flow back to underwater by the gap between bacterial type lid and bearing shell, cut-off type solenoid valve
People's inside cabin, and then reduce the buoyancy of underwater robot；
Wherein：The top of the bacterial type lid has shrouding disc A and shrouding disc B respectively, and lower part Gai Zhu, shrouding disc A are held with described
The gap of supplied gas circulation is left between pressure shell, the lid column is axially inside provided with stomata A, the circumference side of the shrouding disc B
B is provided with a plurality of air holes to radially even, one end of each stomata B is connected with stomata A respectively, and the other end is opened up to institute
State the outer surface of shrouding disc B；
The shrouding disc B is located at the lower section of shrouding disc A, and diameter is less than the diameter of shrouding disc A, each the lid above the stomata B
The U-lag for gas circulation is offered on the lower surface of disk A；
The cut-off type solenoid valve is two position two-way valve, and the intracapsular gas of the outer gas pushes power by outside water and acts through
The cut-off type solenoid valve is back to underwater robot inside cabin, and the flow of gas passes through the cut-off type solenoid valve control；
The underwater robot inside cabin suction, realizes water surface return-air；
After the intracapsular gas backstreaming of outer gas to underwater robot inside cabin, the outer gas bag pressure is outside the bacterial type lid and pressure-bearing
On shell, by the cooperation of the outer air bag, bacterial type lid and bearing shell by the gap sealing between bacterial type lid and bearing shell, institute
Check valve, Pneumatic three-way connector, cut-off type solenoid valve and diaphragm pump is stated with extraneous hydraulic pressure to isolate；
The outer air bag is installed on bearing shell by pressure ring；
Kuppe is installed, the outer air bag is located in the kuppe, is immersed in underwater robot on the bearing shell
In residing seawater.
Advantages of the present invention is with good effect：
1. compared with traditional underwater robot buoyancy regulating system, active gas replenishment process of the present invention is low in energy consumption, efficiency
Height, the passive basic noenergy of return-air process consume, and save the energy of underwater robot, while buoyancy compensation device has occupancy body
Product is small, it is not necessary to the characteristics of interior air bag.
2. the present invention is realized by individual event membrane and is vented, gas backstreaming is prevented by check valve, and then increase underwater
The buoyancy of people, it is simple in structure, it is low in energy consumption, it is efficient, securely and reliably.
3. the present invention can ensure the safety of underwater robot pneumatic element when deep-sea works, when the intracapsular sky of outer gas
When gas is all pushed back in cabin, outer gas bag pressure passes through matching somebody with somebody for outer air bag, bacterial type lid and bearing shell on bacterial type lid and bearing shell
Close the gap sealing between outside bacterial type lid and pressure-bearing, by the check valve in cabin, Pneumatic three-way connector, cut-off type solenoid valve, every
Membrane pump is isolated with extraneous hydraulic pressure.
4. buoyancy adjustment ability of the present invention is big, by adjusting outer bag volume, you can maximum buoyancy adjustment amount is adjusted flexibly.
5. the invention is not restricted to be applied on aerodone under water and AUV, buoyancy adjustment or buoyancy is needed to drive for various
The dynamic underwater robot present invention equally has preferable effect.
Brief description of the drawings
Fig. 1 is the structure principle chart of the present invention；
Fig. 2 is the outer air bag of the present invention and the structure diagram of underwater robot bearing shell coupling part；
Fig. 3 is driving element structure diagram of the present invention；
Fig. 4 is the dimensional structure diagram of bacterial type lid of the present invention；
Wherein：1 is outer air bag, and 2 be pressure ring, and 3 be bearing shell, and 4 be bacterial type lid, and 5 be pneumatic joint, and 6 be check valve, 7
It is cut-off type solenoid valve for Pneumatic three-way connector, 8,9 be supporting rack, and 10 be installing plate, and 11 be diaphragm pump, and 12 be underwater robot
Inside cabin, 13 be baroceptor, and 14 be temperature sensor, and 15 be kuppe, and 16 be shrouding disc A, and 17 be shrouding disc B, and 18 be Gai Zhu, 19
It is stomata B for stomata A, 20,21 be U-lag.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, the present invention include outer air bag 1 and be separately mounted in underwater robot nacelle bacterial type lid 4,
Pneumatic joint 5 and driving element, wherein outer air bag 1 is connected on bearing shell 3 by pressure ring 2, is provided with bearing shell 3 and leads
Stream cover 15, outer air bag 1 is located in the kuppe 15, is immersed in seawater residing for underwater robot.
Bacterial type lid 4 is located at the inside of outer air bag 1, and is connected by pneumatic joint 5 with the bearing shell 3 of underwater robot,
The gap of ventilating air is left between the bacterial type lid 4 and bearing shell 3.As shown in figure 4, the top of bacterial type lid 4 has lid respectively
Disk A16 and shrouding disc B17, lower part are lid column 18, and shrouding disc A16 leaves the seam of supplied gas circulation between disk and bearing shell 3
Gap, shrouding disc B17 is located at the lower section of shrouding disc A16, and diameter is less than the diameter of shrouding disc A16；Lid column 18 is cylinder, axially inside
It is provided with stomata A19.The circumferencial direction of shrouding disc B17 is radially even to be provided with a plurality of air holes B20, one end difference of each stomata B20
It is connected with stomata A19, the other end is opened up to the outer surface of shrouding disc B17.The lower surface of shrouding disc A16 above each stomata B20
On offer for gas circulation U-lag 21.
Driving element includes check valve 6, Pneumatic three-way connector 7, cut-off type solenoid valve 8 and the diaphragm pump by power source drive
11, underwater robot nacelle is interior to be equipped with installing plate 10, and check valve 6 is connected to installing plate with Pneumatic three-way connector 7 by supporting rack 9
On 10, cut-off type solenoid valve 8 is fixed by screws on installing plate 10 with diaphragm pump 11.The exhaust outlet of diaphragm pump 11 passes through hose
It is connected with check valve 6, check valve 6 is connected by hose with a port of Pneumatic three-way connector 7 again, the air entry of diaphragm pump 11
It is connected with underwater robot inside cabin 12；Cut-off type solenoid valve 8 is two position two-way valve, and one end passes through hose and Pneumatic three-way connector 7
Second port be connected, the other end is connected with underwater robot inside cabin 12；3rd port of Pneumatic three-way connector 7 passes through soft
Pipe is connected with pneumatic joint 5.
The diaphragm pump 11 of the present invention is commercial products, is purchased in Bieri companies of Sweden, model AKP103.The present invention's
Cut-off type solenoid valve 8 is commercial products, is purchased in EHE companies, model 2CFR30.
The present invention operation principle be：
When underwater robot needs dive, air is pushed back cabin by passive pneumatic type buoyancy compensation device using extraneous pressure
It is interior, and then realize the purpose of unpowered return-air；The passive pneumatic type buoyancy compensation device is by adjusting the draining of underwater robot
Volume realizes the adjusting to underwater robot buoyant state.Specially：
Underwater robot inside cabin 12 takes out set vacuum in advance, realizes water surface return-air, and this has been taken out to the water of vacuum
Lower robot inside cabin 12 is used as interior air bag.Exhaust pipe and return line, exhaust pipe are parallel between interior air bag and outer air bag 1
Be equipped with by power source drive diaphragm pump 11 and can only check valve 6 that outwards leather bag 1 flows, return line is equipped with cut-off type
Solenoid valve 8.The gas of underwater robot inside cabin 12 is extracted out by diaphragm pump 11, by check valve 6, Pneumatic three-way connector 7, pneumatic
Connector 5 is to bacterial type lid 4, then after the stomata A19 on bacterial type lid 4, stomata B20, U-lag 21, by shrouding disc A16 and bearing shell
Inflated in the outside air bag 1 in gap between 3, and then increase the buoyancy of underwater robot.Gas in outer air bag 1 outer air bag 1 with
Under the pressure differential effect of underwater robot inside cabin 12 behind the gap between 4 upper cover plate A16 of bacterial type lid and bearing shell 3, then through U
After shape groove 21, stomata B20, stomata A19, underwater robot inside cabin 612 is flowed back to through cut-off type solenoid valve 8, and then reduce underwater machine
The buoyancy of device people.Gas in outer air bag 1 acts through cut-off type solenoid valve 8 by outside water pushing power and is back to underwater robot
Inside cabin 12, the flow of gas are controlled by cut-off type solenoid valve 8.
After gas is all pushed back to underwater robot inside cabin 12 in outer air bag 1, outer air bag 1 is pressed in bacterial type lid 4 and pressure-bearing
It is by the cooperation of outer air bag 1, bacterial type lid 4 and bearing shell 3 that the gap between bacterial type lid 4 and bearing shell 3 is close on shell 3
Envelope, by the check valve 6 in underwater robot nacelle, Pneumatic three-way connector 7, cut-off type solenoid valve 8 and diaphragm pump 11 and outside water
Pressure isolation.
Buoyancy compensation device return-air idle of the present invention, is applicable to change in real time buoyant state, requires that energy consumption is low, knot
The simple miniature or small underwater robot of structure requirement, such as underwater glider, AUV (Autonomous Underwater Vehicle) etc..
Claims (8)
- A kind of 1. passive pneumatic type buoyancy compensation device of underwater robot, it is characterised in that：Pacify including outer air bag (1) and respectively Bacterial type lid (4), pneumatic joint (5) and driving element in underwater robot nacelle, wherein outer air bag (1) is installed on pressure-bearing On shell (3), the bacterial type lid (4) is located at the inside of outer air bag (1), and passes through the pneumatic joint (5) and underwater robot Bearing shell (3) connection, the gap of ventilating air is left between the bacterial type lid (4) and the bearing shell (3)；The driving Element includes check valve (6), Pneumatic three-way connector (7), cut-off type solenoid valve (8) and diaphragm pump (11), underwater robot nacelle It is interior to be equipped with installing plate (10), the check valve (6), Pneumatic three-way connector (7), cut-off type solenoid valve (8) and diaphragm pump (11) point Not An Zhuan on the installing plate (10), the exhaust outlet of the diaphragm pump (11) pass through check valve (6) and Pneumatic three-way connector (7) one A port is connected, and the air entry of the diaphragm pump (11) is connected with underwater robot inside cabin (12), the cut-off type solenoid valve (8) One end be connected with second port of Pneumatic three-way connector (7), the other end is connected with underwater robot inside cabin (12), the gas 3rd port of dynamic three-way connection (7) is connected with pneumatic joint (5)；The gas of the underwater robot inside cabin (12) by every Membrane pump (11) is extracted out, by the check valve (6), Pneumatic three-way connector (7), pneumatic joint (5), bacterial type lid (4) and pressure-bearing outside Inflation in the outside air bag in gap (1) between shell (3), and then increase the buoyancy of underwater robot；Gas in the outer air bag (1) By the seam between bacterial type lid (4) and bearing shell (3) under the effect of the pressure differential of outer air bag (1) and underwater robot inside cabin (12) Gap, cut-off type solenoid valve (8) flow back to underwater robot inside cabin (12), and then reduce the buoyancy of underwater robot.
- 2. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：The bacterium The top of type lid (4) has shrouding disc A (16) and shrouding disc B (17) respectively, and lower part is Gai Zhu (18), and shrouding disc A (16) is held with described The gap of supplied gas circulation is left between pressure shell (3), the Gai Zhu (18) is axially inside provided with stomata A (19), the lid The circumferencial direction of disk B (17) is radially even to be provided with a plurality of air holes B (20), one end of each stomata B (20) respectively with gas Hole A (19) is connected, and the other end is opened up to the outer surface of the shrouding disc B (17).
- 3. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 2, it is characterised in that：The lid Disk B (17) is located at the lower section of shrouding disc A (16), and diameter is less than the diameter of shrouding disc A (16), each above the stomata B (20) The U-lag (21) for gas circulation is offered on the lower surface of shrouding disc A (16).
- 4. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：Described section Only formula solenoid valve (8) is two position two-way valve, and the gas in the outer air bag (1) pushes power by outside water and acts through the cut-off type Solenoid valve (8) is back to underwater robot inside cabin (12), and the flow of gas is controlled by the cut-off type solenoid valve (8).
- 5. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：The water Lower robot inside cabin (12) suction, realizes water surface return-air.
- 6. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：It is described outer After air bag (1) interior gas backstreaming to underwater robot inside cabin (12), which is pressed in outside the bacterial type lid (4) and pressure-bearing On shell (3), by the cooperation of the outer air bag (1), bacterial type lid (4) and bearing shell (3) by bacterial type lid (4) and bearing shell (3) gap sealing between, the check valve (6), Pneumatic three-way connector (7), cut-off type solenoid valve (8) and diaphragm pump (11) with Extraneous hydraulic pressure isolation.
- 7. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：It is described outer Air bag (1) is installed on bearing shell (3) by pressure ring (2).
- 8. the passive pneumatic type buoyancy compensation device of underwater robot according to claim 1, it is characterised in that：It is described to hold Kuppe (15) is installed, the outer air bag (1) is located in the kuppe (15), is immersed in underwater robot on pressure shell (3) In residing seawater.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711490612.3A CN108016588A (en) | 2017-12-30 | 2017-12-30 | A kind of passive pneumatic type buoyancy compensation device of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711490612.3A CN108016588A (en) | 2017-12-30 | 2017-12-30 | A kind of passive pneumatic type buoyancy compensation device of underwater robot |
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| CN108016588A true CN108016588A (en) | 2018-05-11 |
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| CN201711490612.3A Pending CN108016588A (en) | 2017-12-30 | 2017-12-30 | A kind of passive pneumatic type buoyancy compensation device of underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436258A (en) * | 2018-12-24 | 2019-03-08 | 重庆大学 | A kind of small miniature submariner device based on Electromagnetic Control |
| CN111216857A (en) * | 2020-01-17 | 2020-06-02 | 哈尔滨工程大学 | Passive eliminating device for residual buoyancy of deep-sea underwater robot |
| CN113153835A (en) * | 2021-03-08 | 2021-07-23 | 杭州电子科技大学 | Air recirculation system based on pericardial soft air supplement valve and working method thereof |
| CN113460276A (en) * | 2021-07-29 | 2021-10-01 | 中山大学 | Temperature control type underwater buoyancy adjusting device and underwater glider |
| CN113815823A (en) * | 2021-08-26 | 2021-12-21 | 中山大学 | Underwater glider and air bag system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109436258A (en) * | 2018-12-24 | 2019-03-08 | 重庆大学 | A kind of small miniature submariner device based on Electromagnetic Control |
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| CN111216857A (en) * | 2020-01-17 | 2020-06-02 | 哈尔滨工程大学 | Passive eliminating device for residual buoyancy of deep-sea underwater robot |
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| CN113815823A (en) * | 2021-08-26 | 2021-12-21 | 中山大学 | Underwater glider and air bag system thereof |
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