CN108116644A - A kind of high-precision buoyancy regulating device for autonomous underwater robot - Google Patents
A kind of high-precision buoyancy regulating device for autonomous underwater robot Download PDFInfo
- Publication number
- CN108116644A CN108116644A CN201611077917.7A CN201611077917A CN108116644A CN 108116644 A CN108116644 A CN 108116644A CN 201611077917 A CN201611077917 A CN 201611077917A CN 108116644 A CN108116644 A CN 108116644A
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- China
- Prior art keywords
- valve group
- inner cylinder
- gear pump
- valve
- underwater robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The present invention relates to autonomous underwater robot fields,Specifically a kind of high-precision buoyancy regulating device for autonomous underwater robot,Including permeable housing and seal casinghousing,Outer oil sac is equipped with wherein in permeable housing,Inner cylinder is equipped in seal casinghousing,Direct current generator,Gear pump,Valve group A and valve group B,Wherein gear pump is driven by direct current generator and rotated,The fuel-displaced port of inner cylinder is connected with the oil-inlet end mouth of the gear pump,The fuel-displaced port of the gear pump is connected with the first port on valve group A,Second port on the valve group A is connected with the hydraulic fluid port of outer oil sac,The hydraulic fluid port of the outer oil sac is also connected simultaneously with the oil-inlet end mouth of valve group B,The fuel-displaced port of the valve group B is connected with the connecting line between inner cylinder and gear pump,It is in parallel in valve group A to be equipped with check valve and solenoid valve A,Series connection is equipped with solenoid valve B and throttle valve in valve group B.The present invention can be from the buoyancy of main modulation underwater robot, and small, low energy consumption, low noise, and reliability is high.
Description
Technical field
The present invention relates to autonomous underwater robot fields, specifically a kind of high-precision for autonomous underwater robot
Buoyancy regulating device.
Background technology
Autonomous underwater robot is a kind of to carry the energy, autonomous control, can recycle and the submarine navigation device of Reusability.
Autonomous underwater robot has been widely used for military, marine hydrology and meteorological survey, marine environmental monitoring, sea-floor relief detection
The fields such as the scientific investigation with mapping, in region under the search of underwater obstacle, Complex Sea bottom terrain environment.
With the variation of marine site and depth, the density and pressure of seawater can generate variation, directly affect Autonomous Underwater
The buoyant state of robot, usual autonomous underwater robot is in order to keep normal/cruise or suspension operation, it is necessary to propeller and rudder
Plate cooperation overcomes extra buoyancy, in order to reduce energy consumption and improve the work capacity and adaptability of autonomous underwater robot, usually
Configuration buoyancy regulating device is also needed to facilitate the buoyancy of adjustment autonomous underwater robot.
In the prior art, in order to ensure autonomous underwater robot in predetermined depth AUTONOMOUS TASK, it is necessary to before every subjob
Artificial adjustment counterweight, calculating is cumbersome, and complicated for operation, reliability is relatively low, and the buoyancy adjustment dress that some underwater robots load
It is larger to put volume, of high cost, degree of regulation is limited.
The content of the invention
It is an object of the invention to provide a kind of high-precision buoyancy regulating devices for autonomous underwater robot, can basis
Different depth of implements, independently adjusts the buoyancy of autonomous underwater robot, and can carry out two-way buoyancy adjustment, volume
Small, low energy consumption, low noise, and reliability is high.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of high-precision buoyancy regulating device for autonomous underwater robot, including permeable housing and seal casinghousing,
In permeable housing one end open, the other end is connected with the seal casinghousing, outer oil sac is equipped in the permeable housing, in institute
State and inner cylinder, direct current generator, gear pump, valve group A and valve group B be equipped in seal casinghousing, wherein the gear pump pass through it is described straight
The driving rotation of galvanic electricity machine, the fuel-displaced port of the inner cylinder are connected with the oil-inlet end mouth of the gear pump, and the gear pump goes out
Oily port is connected with the first port on the valve group A, the second port on the valve group A and the hydraulic fluid port phase of the outer oil sac
Even, the oil-inlet end mouth of the hydraulic fluid port of the outer oil sac simultaneously also with the valve group B is connected, the fuel-displaced port of the valve group B with it is described
Connecting line between inner cylinder and gear pump is connected, in parallel in the valve group A to be equipped with check valve and solenoid valve A, described
Series connection is equipped with solenoid valve B and throttle valve in valve group B.
Oil in the inner cylinder enters through the check valve in outer oil sac when the gear pump is rotated forward, the outer oil sac
In oil enter when gear pump reversion and the solenoid valve A are powered in inner cylinder through the solenoid valve A.
When the gear pump is static, the oil in outer oil sac reaches default value and the solenoid valve B in seawater pressure
Enter during energization through the solenoid valve B and throttle valve in inner cylinder.
Frame there are one being set in the seal casinghousing, the inner cylinder, direct current generator, gear pump, valve group A and valve group B
It is respectively mounted on said frame.
The direct current generator is connected with gear pump and is vertically installed in the inner cylinder one side, B points of the valve group A and valve group
If both sides below the inner cylinder, underwater electrical connector is equipped with away from the permeable shell one end in the seal casinghousing.
The valve group A and valve group B is connected with the outer oil sac by a tee pipe coupling.
The outer oil sac is fixed on by a gland on the permeable housing.
Rope sensor is equipped in the inner cylinder, the inner cylinder includes cylinder body, ventilative end cap, piston and external connection end
Lid, the ventilative end cap and external end cap are divided into cylinder body both ends, and piston moves in the cylinder body, and rope sensor is fixed on
On the ventilative end cap, measurement terminal is equipped with close to the ventilative end cap one side in the piston, the rope sensor passes through
Drawstring is connected with the measurement terminal.
The cylinder body of the inner cylinder is cylindric.
The direct current generator is connected by yielding coupling with the gear pump.
Advantages of the present invention is with good effect：
1st, the present invention uses sectional-regulated pattern, and the extension of outer oil sac is realized by the rotating of direct current generator sliding tooth wheel pump
Or shrink, so as to change buoyancy, and when seawater pressure reaches setting value, it is only necessary to which the solenoid valve opened in valve group B can be realized
The reduction of overall buoyancy, effectively reduces power consumption.
2nd, the present invention is equipped with the higher rope sensor of measurement accuracy in inner cylinder, while inner cylinder is regular shape
Cylinder can be precisely calculated the volume change into and out of oil, realize that the high-precision of buoyancy is adjusted.
3rd, compact overall structure of the invention, the oil circuit of all parts is brief, and space availability ratio is high.
4th, the direct current generator that the present invention uses directly drives gear pump by yielding coupling, without reducing gear, machinery
Efficiency is higher, and noise is low.
Description of the drawings
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is that the structure diagram after seal casinghousing is omitted in Fig. 1,
Fig. 3 is the structure diagram of inner cylinder in Fig. 1,
Fig. 4 is the hydraulic schematic diagram of the present invention.
Wherein, 1 for permeable housing, 2 be seal casinghousing, 3 be inner cylinder, 4 be outer oil sac, 5 be gland, 6 be direct current generator,
7 be gear pump, 8 be valve group A, 9 be frame, 10 be underwater electrical connector, 11 be tee pipe coupling, 12 be oily cap, 13 be oil guide groove,
14 it is solenoid valve B, 15 be solenoid valve A, 16 be valve group B, 17 be rope, 18 be piston, 19 be ventilative end cap, 20 is drawstring sensing
Device, 21 be measurement terminal, 22 be cylinder body, 23 be external end cap, 24 be check valve, 25 be throttle valve, 26 be first port, and 27 are
Second port, 28 be oil-inlet end mouth, and 29 be fuel-displaced port, and 30 be connecting line.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figures 1-4, the present invention include permeable housing 1, seal casinghousing 2, inner cylinder 3, outer oil sac 4, direct current generator 6,
Gear pump 7, valve group A8 and valve group B16, wherein one end of permeable housing 1 communicates for opening with seawater, the other end and seal casinghousing 2
Connection makes the interior formation of seal casinghousing 2 is resistance to press dry cabin, outer oil sac 4 is equipped in the permeable housing 1, in the seal casinghousing 2
Equipped with the inner cylinder 3, direct current generator 6, gear pump 7, valve group A8 and valve group B16, as shown in Figure 1 and Figure 4, the gear pump 7
It is driven and rotated by the direct current generator 6, the fuel-displaced port of the inner cylinder 3 is connected with the oil-inlet end mouth of the gear pump 7, institute
The fuel-displaced port for stating gear pump 7 is connected with the first port 26 on the valve group A8, the second port 27 on the valve group A8 with
The hydraulic fluid port of the outer oil sac 4 is connected, and the valve group B16 is arranged in parallel with the valve group A8, wherein the hydraulic fluid port of the outer oil sac 4 with
The oil-inlet end mouth 28 of the valve group B16 is connected, between the fuel-displaced port 29 of the valve group B16 and the inner cylinder 3 and gear pump 7
Connecting line 30 be connected, each oil circuit is connected by steel pipe with ferrule fitting, and the direct current generator 6 is then straight by yielding coupling
Sliding tooth wheel pump 7 is connect, without reducing gear, mechanical efficiency is higher, and noise is low.
As shown in figure 4, in parallel in the valve group A8 be equipped with check valve 24 and solenoid valve A15, when 6 sliding tooth of direct current generator
When wheel pump 7 rotates forward, the oil in inner cylinder 3 is entered into outer oil sac 4 by check valve 24, the volume increase increase for making outer oil sac 4 is floating
Power, when 6 sliding tooth wheel pump 7 of direct current generator inverts, the solenoid valve A15 is charged, and the oil in outer oil sac 4 is discharged into inner cylinder 3,
Reduce the volume of outer oil sac 4, reduce buoyancy.
As shown in figure 4, series connection is equipped with solenoid valve B14 and throttle valve 25 in the valve group B16, around outer oil sac 4
When seawater pressure reaches default value, without starter receiver pump 7, the solenoid valve B14 need to only be powered on, in outer oil sac 4
Oil is discharged by throttle valve 25 in inner cylinder 3 automatically, reduces buoyancy.
As shown in Fig. 1~2, the outer oil sac 4 is fixed on by a gland 5 on the permeable housing 1, in the capsul
It is set in body 2 there are one frame 9, the inner cylinder 3, direct current generator 6, gear pump 7, valve group A8 and valve group B16 are installed in described
On frame 9, wherein direct current generator 6 is connected with gear pump 7 and is vertically installed in 3 one side of inner cylinder, the valve group A8 and valve
Group B16 sets up the 3 lower section both sides of inner cylinder separately, is in addition equipped with watertight away from described permeable 1 one end of housing in the seal casinghousing 2
Connector 10 is equipped with oily cap 12 for being connected with the electrical system on autonomous underwater robot, in the oil port of the outer oil sac 4,
Pipeline between the valve group A8 and valve group B16 and 4 hydraulic fluid port of outer oil sac is connected by a tee pipe coupling 11, described
Oil guide groove 13 is equipped in outer oil sac 4.
As shown in figure 3, the inner cylinder 3 is the cylindric of regular shape, rope sensor is equipped in the inner cylinder 3
20.The inner cylinder 3 includes cylinder body 22, ventilative end cap 19, piston 18 and external end cap 23, the ventilative end cap 19 and external connection end
Lid 23 is divided into 22 both ends of cylinder body, and piston 18 moves in the cylinder body 22.Rope sensor 20 is fixed on the ventilative end cap
On 19, measurement terminal 21 is fixed on the piston 18 close to ventilative 19 one side of end cap, and the rope sensor 20 passes through drawing
Rope 17 is connected with the measurement terminal 21.When needing to increase the buoyancy of autonomous underwater robot, the oil in inner cylinder 3 passes through pipe
Road is discharged into outer oil sac 4, and piston 18 is moved with measurement terminal 21 to away from ventilative 19 one side of end cap at this time, rope sensor
20 precisely measure out the linear motion distance of piston 18, can accurately be counted by the air line distance and 22 internal diameter of cylinder body that measure
Calculate the reduction in volume of oil, you can be converted into buoyancy increase；When needing to reduce the buoyancy of autonomous underwater robot, outer oil
Oil in capsule 4 is discharged into inner cylinder 3 by pipeline, and piston 18 is transported with measurement terminal 21 to ventilative 19 direction of end cap at this time
Dynamic, rope sensor 20 precisely measures out the linear motion distance of piston 18, by the air line distance and cylinder body 22 that measure
Footpath can accurately calculate fuel-displaced volume increase, you can be converted into buoyancy reduction amount.In the present embodiment, the drawstring sensing
The model of device 20：KS15MR, manufacturer are：Jinan Science and Technology Ltd. of Case.
The present invention operation principle be：
The present invention uses sectional-regulated pattern, stage one：It, will be in inner cylinder 3 when 6 sliding tooth wheel pump 7 of direct current generator rotates forward
Oil be discharged into outer oil sac 4 by check valve 24, increase the volume of outer oil sac 4, so as to increase the whole of autonomous underwater robot
Body displacement of volume, buoyancy increase；When 6 sliding tooth wheel pump 7 of direct current generator inverts, solenoid valve A15 is charged, will be in outer oil sac 4
Oil is discharged into inner cylinder 3, reduce the volume of outer oil sac 4, so that the whole displacement of volume of autonomous underwater robot reduces, floats
Power reduces.Stage two：When seawater pressure around outer oil sac 4 reaches underwater robot system setting value, pumped without starter receiver
7, solenoid valve B14 need to only be powered on, the oil in outer oil sac 4 is discharged into inner cylinder 3, the volume of outer oil sac 4 automatically by throttle valve 25
Reduce, the whole displacement of volume of autonomous underwater robot reduces, and buoyancy reduces.
Rope sensor 20 is equipped in the inner cylinder 3, when inner cylinder 3 into it is fuel-displaced when, 18 meeting of piston in inner cylinder 3
Measurement terminal 21 is driven to move, the rope sensor 20 can accurately measure the linear movement distance of piston 18, by measuring
Air line distance and inner cylinder 3 22 internal diameter of cylinder body can accurately calculate into and out of oil volume size, you can be converted into buoyancy
Knots modification.
Claims (10)
1. a kind of high-precision buoyancy regulating device for autonomous underwater robot, it is characterised in that：Including permeable housing (1) and
Seal casinghousing (2), wherein the one end open of permeable housing (1), the other end is connected with the seal casinghousing (2), described permeable
Outer oil sac (4) is equipped in housing (1), inner cylinder (3), direct current generator (6), gear pump are equipped in the seal casinghousing (2)
(7), valve group A (8) and valve group B (16) rotates, the interior oil wherein the gear pump (7) is driven by the direct current generator (6)
The fuel-displaced port of cylinder (3) is connected with the oil-inlet end mouth of the gear pump (7), fuel-displaced port and the valve of the gear pump (7)
First port (26) on group A (8) is connected, the second port (27) on the valve group A (8) and the hydraulic fluid port of the outer oil sac (4)
It is connected, the oil-inlet end mouth (28) of the hydraulic fluid port of the outer oil sac (4) simultaneously also with the valve group B (16) is connected, the valve group B (16)
Fuel-displaced port (29) be connected with the connecting line (30) between the inner cylinder (3) and gear pump (7), in the valve group A (8)
Interior in parallel equipped with check valve (24) and solenoid valve A (15), series connection is equipped with solenoid valve B (14) and throttling in the valve group B (16)
Valve (25).
2. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：Institute
The oil stated in inner cylinder (3) enters through the check valve (24) in outer oil sac (4) when the gear pump (7) is rotated forward, described outer
Oil in oil sac (4) enters in the gear pump (7) reversion and the solenoid valve A (15) energizations through the solenoid valve A (15)
In inner cylinder (3).
3. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：When
When the gear pump (7) is static, the oil in outer oil sac (4) reaches default value and the solenoid valve B (14) in seawater pressure
Enter during energization through the solenoid valve B (14) and throttle valve (25) in inner cylinder (3).
4. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：
Frame (9) there are one being set in the seal casinghousing (2), the inner cylinder (3), direct current generator (6), gear pump (7), valve group A (8)
It is installed in valve group B (16) on the frame (9).
5. the high-precision buoyancy regulating device for autonomous underwater robot according to claim 1 or 4, feature exist
In：The direct current generator (6) is connected with gear pump (7) and is vertically installed in the inner cylinder (3) one side, the valve group A (8) and
Valve group B (16) sets up both sides below the inner cylinder (3) separately, is set in the seal casinghousing (2) away from described permeable housing (1) one end
There is underwater electrical connector (10).
6. the high-precision buoyancy regulating device for autonomous underwater robot according to claim 1 or 4, feature exist
In：The valve group A (8) and valve group B (16) are connected with the outer oil sac (4) by a tee pipe coupling (11).
7. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：Institute
Outer oil sac (4) is stated to be fixed on the permeable housing (1) by a gland (5).
8. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：
Rope sensor (20) is equipped in the inner cylinder (3), the inner cylinder (3) includes cylinder body (22), ventilative end cap (19), piston
(18) and external end cap (23), the ventilative end cap (19) and external end cap (23) are divided into cylinder body (22) both ends, piston (18)
It is moved in the cylinder body (22), rope sensor (20) is fixed on the ventilative end cap (19), is leaned in the piston (18)
Nearly ventilative end cap (19) one side is equipped with measurement terminal (21), and the rope sensor (20) passes through drawstring (17) and the survey
Terminal (21) is measured to be connected.
9. the high-precision buoyancy regulating device according to claim 8 for autonomous underwater robot, it is characterised in that：Institute
The cylinder body (22) for stating inner cylinder (3) is cylindric.
10. the high-precision buoyancy regulating device according to claim 1 for autonomous underwater robot, it is characterised in that：
The direct current generator (6) is connected by yielding coupling with the gear pump (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077917.7A CN108116644A (en) | 2016-11-30 | 2016-11-30 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077917.7A CN108116644A (en) | 2016-11-30 | 2016-11-30 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108116644A true CN108116644A (en) | 2018-06-05 |
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ID=62226865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611077917.7A Pending CN108116644A (en) | 2016-11-30 | 2016-11-30 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
| CN110901866A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| CN111252221A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | High-precision buoyancy adjusting device for underwater robot |
| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjusting device of underwater robot |
| CN112061349A (en) * | 2020-08-18 | 2020-12-11 | 柳州市神鹰科技有限公司 | Underwater robot |
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| CN203581367U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | One-way buoyancy adjusting device for autonomous underwater vehicle |
| CN104691726A (en) * | 2013-12-06 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Underwater robot buoyancy adjusting device |
| CN105836082A (en) * | 2016-03-18 | 2016-08-10 | 浙江海洋学院 | Motion posture control device for underwater glider |
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| CN102079374A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
| CN110901866A (en) * | 2019-11-28 | 2020-03-24 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
| CN110901866B (en) * | 2019-11-28 | 2021-09-28 | 天津大学 | Rapid buoyancy adjusting system for small and medium-sized underwater unmanned aircraft |
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| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjusting device of underwater robot |
| CN112061349A (en) * | 2020-08-18 | 2020-12-11 | 柳州市神鹰科技有限公司 | Underwater robot |
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Application publication date: 20180605 |
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