CN110371253B - Attitude adjusting and horizontal driving mechanism for profile buoy - Google Patents
Attitude adjusting and horizontal driving mechanism for profile buoy Download PDFInfo
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- CN110371253B CN110371253B CN201910675954.5A CN201910675954A CN110371253B CN 110371253 B CN110371253 B CN 110371253B CN 201910675954 A CN201910675954 A CN 201910675954A CN 110371253 B CN110371253 B CN 110371253B
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- upper oil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Chemical Kinetics & Catalysis (AREA)
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention relates to an attitude adjusting and horizontal driving mechanism for a profile buoy, which comprises a buoy shell, a double-oil-bag type attitude adjusting device and a double-propeller horizontal propelling device. Meanwhile, the invention designs a double-propeller horizontal propelling mechanism for a profile buoy, and solves the problem that the existing buoy cannot be driven horizontally. The invention enhances the controllable operation and autonomy of the buoy, can enable the buoy to move according to an expected air route, improves the three-dimensional continuous observation capability of the buoy and is beneficial to buoy recovery.
Description
Technical Field
The invention belongs to the technical field of underwater propelling and recovering of buoys, and particularly relates to an attitude adjusting and horizontal driving mechanism for a profile buoy.
Background
Profile buoys have become a global marine real-time observation system and are widely applied to marine hydrological and meteorological investigation, but the existing profile buoys work in a way that reciprocating vertical motion is measured between the surface of seawater and deep seawater, horizontal motion cannot be performed, and more complex and accurate observation tasks cannot be performed. Meanwhile, the buoy has overlarge drift distance and deviates from an expected observation sea area due to sea waves, ocean currents and trim in the self sinking and floating process, so that the positioning accuracy is low. If the propeller propulsion system is directly added, the vertical posture of the propeller propulsion system also generates larger resistance, and the propeller propulsion system is not beneficial to horizontal driving due to the limitation of electric energy of the buoy.
Therefore, the existing section buoy can not well meet the fine observation of the medium and small-scale upper ocean, and an attitude adjusting and horizontal propelling system for the section buoy is urgently needed to break through the technical bottleneck of high space-time resolution observation of the medium and small-scale ocean observation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a posture adjusting and horizontal driving mechanism for a profile buoy, and the novel double-oil-bag type posture adjusting mechanism designed by the invention can change the buoyancy distribution of the buoy by a hydraulic system after the buoy reaches the maximum working depth, realize the posture change of the buoy from vertical to horizontal by 90 degrees, solve the problem that the existing profile buoy only has a simple vertical posture, and ensure that the buoy can keep the horizontal posture with the minimum water resistance. Meanwhile, the invention designs a double-propeller horizontal propelling mechanism for a profile buoy, and solves the problem that the existing buoy cannot be driven horizontally. The invention enhances the controllable operation and autonomy of the buoy, can enable the buoy to move according to an expected air route, improves the three-dimensional continuous observation capability of the buoy and is beneficial to buoy recovery.
The invention adopts the following technical scheme:
an attitude adjusting and horizontal driving mechanism for a profile buoy comprises a buoy shell, a double-oil-bag type attitude adjusting device and a double-propeller horizontal propelling device;
the buoy shell comprises a signal bin, a sensor bin, an upper oil bin, a control bin, a hydraulic bin and a lower oil bin, wherein the signal bin and the lower oil bin are communicated with seawater;
the double-oil-bag type attitude adjusting device comprises a hydraulic machine, an upper oil tank, a baffle, an oil pipe, a three-way valve and a lower oil bag, wherein the upper oil tank is arranged in an upper oil bin, the lower oil bag and the hydraulic machine are respectively connected onto the three-way valve, the upper oil tank is connected with the other end of the three-way valve through a long oil pipe, a sliding baffle is arranged in the upper oil tank, the lower oil bag is a bag type oil bag and is placed in a lower oil bin, and the lower oil bin is an open space and is communicated with seawater;
the horizontal propelling device of the double-propeller comprises a telescopic motor, two propelling motors, a fixed disc, a connecting rod and a connecting lever, wherein the fixed disc is fixed on the buoy shell, the telescopic motor is fixed on the fixed disc and is connected with the connecting rod and the connecting lever, the end part of the propelling motor is connected with the connecting rod, and the other end of the connecting lever is connected on a slide way of the propelling motor.
Furthermore, the upper oil tank is not positioned in the center of the buoy shell, and the upper oil tank and an oil pipe connected with the three-way valve are close to one side of the shell together.
Furthermore, the baffle plate in the upper oil tank is arranged in the upper oil tank slide way and can ascend or descend along with the hydraulic oil, and the hydraulic oil and the vacuum part can be isolated.
Furthermore, the on-off state of the three-way valve is determined by the controller, when the buoy needs to float, the three-way valve is controlled to communicate the hydraulic machine with the lower oil bag, and when the buoy needs to adjust the lifting rudder angle, the three-way valve is controlled to communicate the hydraulic machine with the upper oil tank.
Furthermore, the telescopic motor can simultaneously control the connecting rod and the connecting lever, the motor rotates forwards to push out the connecting lever and recover the connecting rod, and the motor rotates backwards to push out the connecting rod and recover the connecting lever.
The invention has the beneficial effects that: the double-oil-bag type attitude adjusting device can change the buoyancy distribution of the device to change the 90-degree attitude of the buoy from vertical to horizontal, and can accurately adjust the lifting rudder angle in real time through the direction sensor during horizontal movement to ensure that the buoy is always in the horizontal attitude, so that the resistance borne by the buoy during underwater navigation is reduced to the maximum extent.
The baffle plate of the upper oil tank can isolate hydraulic oil from evacuated space, and can avoid the change of buoyancy distribution of the buoy due to the shaking of the hydraulic oil in the upper oil tank, so that the more stable horizontal posture of the buoy is maintained.
The position of the upper oil tank and the oil pipe which are deviated to one side of the shell can ensure that the center of gravity of the buoy in the horizontal posture can ensure that the propulsion motors are respectively positioned at two sides of the shell and keep balance.
The telescopic motor can recover the double propellers to the tail shell of the buoy, so that the resistance of the buoy in the process of submerging from the water surface to a deep water area or reversing in a vertical posture is reduced.
The double-propeller horizontal propelling device can propel the buoy to move underwater in a horizontal posture, and steering is carried out by adjusting the rotating speed difference of the two propelling motors, so that the underwater control of the buoy is realized, the temperature and salt depth data of different positions can be collected, the profile buoy has three-dimensional continuous observation capability, necessary and detailed profile data are provided for typhoon forecast and oceanographic weather, the application capability in the fields of ocean resource development, environment forecast, disaster prevention and relief and the like is improved, and the recovery of the buoy is more convenient.
Drawings
FIG. 1 is a schematic front view of the overall structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of a dual oil bladder type attitude adjustment device of the present invention;
FIG. 4 is a schematic diagram of the working principle of the dual oil-bag type attitude adjusting device according to the present invention;
FIG. 5 is a schematic view showing the propulsion state of the double-propeller horizontal propulsion device according to the present invention;
FIG. 6 is a schematic view of the retracted state of the dual-propeller horizontal propulsion device of the present invention;
in the figure: 1-buoy shell, 2-satellite signal antenna, 3-signal bin, 4-sensor bin, 5-oil feeding bin, 6-baffle, 7-control bin, 8-hydraulic bin, 9-three-way valve, 10-oil discharging bin, 11-propulsion motor, 12-CTD detection probe, 13-CTD sensor, 14-oil feeding tank, 15-hydraulic oil, 16-oil pipe, 17-power supply, controller, 18-hydraulic machine, 19-oil discharging bag, 20-telescopic motor, 21-fixed disk, 22-connecting rod, 23-crank arm, 24-slideway and 25-direction sensor.
Detailed Description
For better understanding of the present invention, the technical solutions and effects of the present invention will be described in detail by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1-2, an attitude adjustment and horizontal driving mechanism for a profile buoy comprises a buoy housing 1, a double-oil-bag type attitude adjustment device and a double-propeller horizontal propelling device;
buoy housing 1 includes signal storehouse 3, sensor storehouse 4, goes oil storehouse 5, control storehouse 7, hydraulic pressure storehouse 8, lower oil storehouse 10, signal storehouse 3 and lower oil storehouse 10 all communicate with the sea water, and signal storehouse 3 includes satellite signal antenna 2 and CTD test probe 12, sensor storehouse 4, last oil storehouse 5, hydraulic pressure storehouse 8 and control storehouse 7 are airtight storehouse, and sensor storehouse 4 includes CTD sensor 13 and direction sensor 25, and control storehouse 7 includes power, the controller 17 of the whole system of buoy.
As shown in fig. 3, the double-oil-bag type attitude adjusting device includes a hydraulic machine 18, an upper oil tank 14, a baffle 6, an oil pipe 16, a three-way valve 9, and a lower oil bag 19, the upper oil tank 14 is in the upper oil bin 5, the lower oil bag 19 and the hydraulic machine 18 are respectively connected to the three-way valve 9, the upper oil tank 14 is connected to the other end of the three-way valve 9 through a long oil pipe 16, the baffle 6 is installed in the upper oil tank 14, the lower oil bag 19 is a bag-type oil bag and is placed in the lower oil bin 10, and the lower oil bin 10 is an open space and is communicated with seawater. The upper oil tank 14 and the oil pipe 16 are positioned close to one side of the buoy housing, and the center of gravity is lower when the buoy is in a horizontal posture, so that the double-propeller horizontal propulsion device can be respectively kept at the left side and the right side of the housing. The baffle 6 separates the hydraulic oil 15 from the vacuum part in the upper oil tank 14, and prevents the unstable gravity center of the buoy caused by the liquid position change after the hydraulic oil 15 enters the upper oil tank 14.
As shown in fig. 4, when the buoy is in the initial state on the water surface and needs to be subjected to the maximum buoyancy, the hydraulic oil 15 in the upper oil tank 14 and the hydraulic machine 18 is completely extruded into the lower oil bag 19, the volume of the buoy is the maximum, at this time, the CTD detection probe 12 transmits depth pressure data to the CTD sensor 13, the detection depth fed back to the controller 17 by the CTD sensor 13 is 0 meter, and the controller 17 controls the three-way valve 9 to be completely closed; when the buoy needs to descend, the controller 17 controls the three-way valve 9 to open the communication between the lower oil bag 19 and the hydraulic machine 18, the hydraulic oil 15 in the lower oil bag 19 is pumped back, the volume of the buoy is reduced, the buoyancy is reduced, and the buoy begins to descend; the controller 17 controls the on-off of the three-way valve 9 according to the real-time depth detected by the CTD sensor 13, so that the buoy is suspended at the preset depth; when the buoy needs to be changed into a horizontal posture at the working depth, the controller 17 controls the three-way valve 9 to communicate the upper oil tank 14 with the hydraulic machine 18, the hydraulic machine 18 extrudes the hydraulic oil 15 into the upper oil tank 14, the volume of the buoy is unchanged, the gravity center moves upwards and deviates to one side, the buoy topples in water, and the buoy is detected by the direction sensor 25, the lifting rudder angle of the buoy is transmitted back to the controller to adjust the volume of the hydraulic oil 15 in the upper oil tank 14 in real time to control the posture of the buoy.
As shown in fig. 5-6, the double-propeller horizontal propulsion device includes a telescopic motor 20, two propulsion motors 11, a fixed disk 21, a connecting rod 22, and a crank arm 23, the fixed disk 21 is fixed on the buoy housing 1, the telescopic motor 20 is fixed on the fixed disk 21 and connected to the connecting rod 22 and the crank arm 23, the connecting rod 22 is connected to the end of the propulsion motor 11, and the other end of the crank arm 23 is connected to the slide way of the propulsion motor 11. When the telescopic motor 20 rotates forwards, the connecting rod 22 is controlled by the telescopic motor 20 to be drawn back towards the fixed disk, and the crank arm 23 is controlled by the telescopic motor 20 to be pushed out reversely, so that the pushing motor 11 is close to the fixed disk 21 and changes direction under the action of the slide way, and the stretching state shown in the figure 5 is changed into the state shown in the figure 6 to be recovered to the tail part of the buoy shell 1, so that the resistance borne by the buoy during sinking and floating movement is reduced; when the telescopic motor 20 rotates reversely, the connecting rod 22 is pushed out reversely, the crank arm 23 is drawn back, and the propelling motor 11 is finally changed from the recovery state to the extension state under the action of the slideway, so that underwater propelling is performed.
The working principle of the attitude adjusting and horizontal driving mechanism for the section buoy is as follows:
air in the upper oil tank 14 is pumped out in advance, the baffle 6 is blocked in the upper oil tank 14 to isolate the hydraulic oil 15 from a vacuum part, and the unstable gravity center of the buoy caused by the change of the liquid position after the hydraulic oil 15 enters the upper oil tank 14 is prevented; the profile buoy floats on the sea surface in a vertical posture, at the moment, hydraulic oil 15 in an upper oil tank 14 and a hydraulic machine 18 is completely pressed into a lower oil bag 19, the volume of the buoy is maximum, and a propelling motor 11 is recovered to the tail part of a buoy shell 1. The controller 17 detects that the depth data of the CTD sensor 13 is 0 meter, marine data information which is acquired in the last work and stored in the controller 17 is transmitted to a satellite through the satellite signal antenna 2, a user transmits signals of a position required to be measured next time of the buoy and a current satellite positioning position to the satellite signal antenna 2 of the buoy through the satellite according to measurement requirements, and the information of the position required to be measured next time comprises the distance and the direction to the current position.
After the information transmission is finished, the controller 17 automatically controls the three-way valve 9 to enable the hydraulic machine 18 to be communicated with the oil discharge bag 19, the hydraulic oil 15 is pumped back into the hydraulic machine 18, and the buoyancy is reduced to enable the buoy to submerge. The controller 17 controls the switch of the three-way valve 9 according to the real-time depth detected by the CTD sensor 13, so that the buoy is suspended at the preset depth, the telescopic motor 20 is controlled to rotate reversely, the connecting rod 22 is controlled by the telescopic motor 20 to be pushed out, the crank arm 23 is controlled to be pulled inwards, the propelling motor 11 is driven to be away from the fixed disc 21 and change the direction, the propelling motor 11 is changed from a recovery state to an extension state through the action of the slideway 24, then the communication between the hydraulic machine 18 and the upper oil tank 14 is opened, the hydraulic machine 18 is controlled to pump hydraulic oil 15 into the upper oil tank 14, the volume of the buoy is unchanged, the gravity center moves upwards and deviates to one side, the buoy topples in water, and the controller 17 adjusts the hydraulic oil quantity in the upper oil tank 14 in real time. At this time, the controller 17 controls the power supply 17 to supply power to the propulsion motors 11 of the double-propeller horizontal propulsion devices, predicts the displacement according to the rotating speed of the propulsion motors 11, and controls the buoy movement direction according to the rotating speed difference of the two propulsion motors 11 of the double-propeller horizontal propulsion devices adjusted by the direction sensor 25.
After the buoy reaches the estimated preset position, the controller 17 controls the telescopic motor 20 to rotate forward to enable the propulsion motor to be recovered to the tail of the buoy shell from the stretching state, meanwhile, the hydraulic machine 18 is controlled to pump hydraulic oil 15 in the upper oil tank 14 back to the hydraulic machine 18, the communication between the hydraulic machine 18 and the upper oil tank 14 is closed, the volume of the buoy is unchanged, the gravity center moves downwards, after the controller 17 detects that the buoy restores to the vertical posture through the direction sensor 25, the communication between the hydraulic machine 18 and the lower oil bag 19 is opened, hydraulic oil 15 is pumped into the lower oil bag 19, the volume of the buoy is increased, and the buoy can float to.
The controller 17 of the buoy controls the CTD sensor 13 to collect temperature, salt and depth data in the floating and submerging processes and transmits the data back to the controller 17 for storage, and therefore marine data collection work of a new position is conducted. The electric energy required in the whole working process is supplied by the power supply 17.
Finally, it is to be noted that: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. An attitude adjustment and horizontal drive mechanism for a profile buoy, characterized in that: comprises a buoy shell, a double-oil-bag type posture adjusting device and a double-propeller horizontal propelling device;
the buoy shell comprises a signal bin, a sensor bin, an upper oil bin, a control bin, a hydraulic bin and a lower oil bin, wherein the signal bin and the lower oil bin are communicated with seawater;
the double-oil-bag type attitude adjusting device comprises a hydraulic machine, an upper oil tank, a baffle, an oil pipe, a three-way valve and a lower oil bag, wherein the upper oil tank is arranged in an upper oil bin, the lower oil bag and the hydraulic machine are respectively connected onto the three-way valve, the upper oil tank is connected with the other end of the three-way valve through a long oil pipe, a sliding baffle is arranged in the upper oil tank, the lower oil bag is a bag type oil bag and is placed in a lower oil bin, and the lower oil bin is an open space and is communicated with seawater;
the horizontal propelling device of the double-propeller comprises a telescopic motor, two propelling motors, a fixed disc, a connecting rod and a connecting lever, wherein the fixed disc is fixed on the buoy shell, the telescopic motor is fixed on the fixed disc and is connected with the connecting rod and the connecting lever, the end part of the propelling motor is connected with the connecting rod, and the other end of the connecting lever is connected on a slide way of the propelling motor.
2. The attitude adjustment and horizontal drive mechanism for a profile buoy of claim 1, wherein: the upper oil tank is not positioned in the center of the buoy shell, and the upper oil tank and an oil pipe connected with the three-way valve are close to one side of the shell together.
3. The attitude adjustment and horizontal drive mechanism for a profile buoy of claim 1, wherein: the baffle plate in the upper oil tank is arranged in the upper oil tank slide way and can ascend or descend along with the hydraulic oil, and the hydraulic oil and the vacuum part can be isolated.
4. The attitude adjustment and horizontal drive mechanism for a profile buoy of claim 1, wherein: the on-off state of the three-way valve is determined by the controller, when the buoy needs to sink and float, the three-way valve is controlled to communicate the hydraulic machine with the lower oil sac, and when the buoy needs to adjust the lifting rudder angle, the three-way valve is controlled to communicate the hydraulic machine with the upper oil tank.
5. The attitude adjustment and horizontal drive mechanism for a profile buoy of claim 1, wherein: the telescopic motor can simultaneously control the connecting rod and the connecting lever, the motor forwards rotates to push out the connecting lever and recover the connecting rod, and the motor backwards rotates to push out the connecting rod and recover the connecting lever.
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| CN201910675954.5A CN110371253B (en) | 2019-07-25 | 2019-07-25 | Attitude adjusting and horizontal driving mechanism for profile buoy |
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| CN201910675954.5A CN110371253B (en) | 2019-07-25 | 2019-07-25 | Attitude adjusting and horizontal driving mechanism for profile buoy |
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| CN110371253B true CN110371253B (en) | 2021-03-16 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111674506A (en) * | 2020-05-28 | 2020-09-18 | 山西汾西重工有限责任公司 | Buoy device and air route measuring system |
| CN111924044B (en) * | 2020-08-13 | 2022-10-21 | 中山大学 | Mobile ocean observation platform capable of working underwater for long time |
| CN112339914B (en) * | 2020-11-17 | 2021-10-08 | 青岛黄海学院 | Underwater profile detection buoy device and detection method |
| CN115743409A (en) * | 2022-10-31 | 2023-03-07 | 南方海洋科学与工程广东省实验室(珠海) | Self-floating and sinking type section observation buoy |
| CN118408605B (en) * | 2024-07-01 | 2024-08-30 | 浙江固微科技有限公司 | Integrated temperature and salt depth measuring instrument |
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