CN111216857A - Passive eliminating device for residual buoyancy of deep-sea underwater robot - Google Patents
Passive eliminating device for residual buoyancy of deep-sea underwater robot Download PDFInfo
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- CN111216857A CN111216857A CN202010050457.9A CN202010050457A CN111216857A CN 111216857 A CN111216857 A CN 111216857A CN 202010050457 A CN202010050457 A CN 202010050457A CN 111216857 A CN111216857 A CN 111216857A
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- ballast
- air
- buoyancy
- sealing device
- underwater robot
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- 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
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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
- B63G8/26—Trimming equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a passive removing device for residual buoyancy of a deep-sea underwater robot, which belongs to the technical field of underwater robots. The invention can passively lose quantitative buoyancy at the preset depth without any external control, eliminate the residual buoyancy added by the carrier of the deep-sea underwater robot, simultaneously does not damage the positive floating state of the underwater robot on the sea surface, can adjust the buoyancy elimination amount according to the working water depth before the robot is launched into the water, and has simple structure and convenient use.
Description
Technical Field
The invention relates to a zero-consumption buoyancy adjusting device, in particular to a passive residual buoyancy eliminating device for a deep-sea underwater robot, and belongs to the field of buoyancy adjustment of underwater robots.
Background
The underwater robot is widely applied to marine scientific research, marine resource investigation and marine engineering, and particularly, the deep sea underwater robot becomes an important tool for human beings to explore the sea. When the underwater robot works underwater, compared with the increase of the density of seawater on the water surface and the compression of a robot carrier, the buoyancy borne by the robot can be changed, so that the gravity and the buoyancy are unbalanced. Generally, the buoyancy of the deep sea underwater robot is slightly larger than the gravity at the working depth, namely, the residual buoyancy is generated, the residual buoyancy can influence the vertical control effect of a carrier, and in order to ensure the operation effect of the deep sea underwater robot, the residual buoyancy needs to be eliminated by a certain means.
At present, two main ways are adopted for eliminating residual buoyancy, one is a power way, and a downward thrust is generated through an actuating mechanism, or a downward hydrodynamic force is generated in the navigation process of a robot carrier, so that vertical stress balance is achieved; another way is to reduce the displacement volume of the robotic carrier or increase the weight of the robotic carrier, rebalancing the buoyancy and gravity forces. The use of power additionally consumes a part of energy, and the active adjustment of the water discharge volume of the carrier or the increase of the weight of the carrier requires a complicated mechanism and energy consumption.
Disclosure of Invention
The invention aims to provide a passive residual buoyancy eliminating device of a deep sea underwater robot, which does not need energy consumption, in order to solve the problems that the existing residual buoyancy eliminating mode needs to consume extra energy and increase the complexity of a system.
The purpose of the invention is realized as follows: the ballast fixing bolt is communicated with the air bag and is also provided with a ballast anti-falling rod for preventing the ballast from falling off, an inflation pipe interface is arranged at the center of the end part of the ballast fixing bolt, a sealing device is arranged at one end, close to the bottom plate, of the ballast fixing bolt, an air valve and a water valve which are communicated with the ballast bolt are arranged on the sealing device, water is filled or drained through the water valve, and air is filled or exhausted through the air valve and the inflation pipe interface.
The invention also includes such structural features:
1. the sealing device comprises an upper sealing device a and a lower sealing device b, the air valve is arranged on the sealing device b, and the water valve is arranged on the sealing device a.
2. And the metal bottom plate is also provided with a fixing hole and a fixing bolt which are fixedly connected with the robot carrier.
3. When the ballast anti-dropping device is used, water is filled into the air bag through the water valve, the sealing device a is used for sealing the water, then the air in the air bag is emptied through the air valve and the inflation pipe interface, the air cylinder is used for filling air with the required volume into the air bag through the inflation pipe interface, then the sealing device b is used for sealing the air, then the ballast with the required weight is installed on the ballast fixing bolt, and the ballast anti-dropping rod is locked.
4. The inflation pipe joint of the inflator is connected with the inflation pipe joint to realize the inflation of the air bag, and the inflator is made of transparent plastic and is marked with scales taking milliliters as a unit.
Compared with the prior art, the invention has the beneficial effects that: 1. the volume of the inflatable air bag is compressed in a pressure environment, so that the drainage volume of the robot is reduced, and the residual buoyancy of the robot is eliminated without consuming extra energy. When the robot floats to the water surface, the volume of gas in the air bag expands due to the reduction of the environmental pressure, so that the drainage volume of the robot carrier is increased, and the robot can be ensured to keep a positive floating state on the water surface. 2. The present invention can be configured according to the working depth of the robot and is not limited to a certain fixed depth. According to the target working depth of the robot, the residual buoyancy generated by the carrier can be estimated in advance, and according to the constraint condition that the robot keeps floating on the water surface and the working depth, the gas volume and ballast weight required by the gas bag can be calculated. 3. The invention has compact structure and high modularization degree, is easy to deploy on the robot, and can be used as a universal module to be applied to deep-sea underwater robot systems of different types and levels.
Drawings
Fig. 1 shows a body of the underwater buoyancy regulating device (without ballast).
Fig. 2 shows an auxiliary tool and ballast of the underwater buoyancy adjusting device.
Wherein: the ballast water tank is characterized in that the ballast water tank comprises an air bag 1, a fixing hole 2, a fixing bolt 3, a metal bottom plate 4, a water valve 5, a sealing device a, an air valve 7, a sealing device b8, a ballast fixing bolt 9, an inflation pipe connector 10, a ballast anti-falling rod 11, a ballast 12, a piston connecting rod 13, an air cylinder piston 14, an air cylinder 15, an air cylinder air inlet valve 16, an air cylinder exhaust valve 17, an inflation pipe 18 and an inflation pipe connector 19.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention aims to provide a device for passively eliminating residual buoyancy of a deep-sea underwater robot without energy consumption.
In order to better understand the technical solution, the technical solution is described in detail below with reference to the drawings and the specific embodiments.
As shown in fig. 1 and 2, the passive elimination device for residual buoyancy of the deep sea underwater robot comprises a device main body and auxiliary tools, wherein the device main body comprises an air bag 1, a fixing hole 2, a fixing bolt 3, a metal bottom plate 4, a water valve 5, a sealing device a6, an air valve 7, a sealing device b8, a ballast fixing bolt 9, an inflation tube connector 10, a ballast anti-dropping rod 11 and a ballast 12, and the auxiliary tools comprise a piston connecting rod 13, an air cylinder piston 14, an air cylinder 15, an air cylinder air inlet valve 16, an air cylinder exhaust valve 17, an inflation tube 18 and an inflation tube connector 19.
The air bag 1 is adhered to one side of the bottom plate 4, the ballast fixing bolt 9 is fixedly installed on the other side of the bottom plate 4, the water valve 5, the sealing device a6, the air valve 7 and the sealing device b8 are installed at one end, close to the bottom plate 4, of the ballast fixing bolt 9, the ballast anti-release rod 11 is installed at one end, free to the ballast fixing bolt 9, of the ballast fixing bolt 9, the inflation pipe interface 10 is opened at the center of the ballast fixing bolt 9, the ballast 12 is installed on the ballast fixing bolt 9 through threads, the ballast anti-release rod 11 is used for preventing the ballast from loosening, and the device main body can be installed on a robot.
The air bag 1 is of an airtight and compressible structure, has folding corrugations, is vertical in the contraction direction, can be filled with water or drained through a water valve 5, is inflated or exhausted through an air valve 7 and an inflation pipe interface 10, and is sealed by a sealing device a6 and a sealing device b 8.
The ballast 12 is a series of circular metal plates with internal threads, and the ballast 12 has different weight specifications and can be combined according to actual needs.
The cylinder 15 of the auxiliary tool is made of transparent plastic and is marked with scales in milliliters.
When the ballast anti-dropping device is used, a small amount of water is filled into the air bag 1 through the water valve 5, the water is sealed through the sealing device a6, then air in the air bag 1 is exhausted through the air valve 7 and the inflation pipe connector 10, the auxiliary tool is used for filling air with a required volume into the air bag 1 through the inflation pipe connector 10, then the air is sealed through the sealing device b8, then a ballast 12 with required weight is installed on the ballast fixing bolt 9, and the ballast anti-dropping rod 11 is locked.
The adjustment principle of the device of the invention is as follows:
from the working depth of the robot and the seawater density curve, the change in buoyancy of the robot after reaching a predetermined depth can be estimated as Δ F, at sea level, where the ballastless buoyancy adjustment device mass is known as m0The volume of the air bag is v1Ballast mass mpBallast volume of vpBallast density is known as ρpThe total mass of the buoyancy regulating device is m, and the known pressure is p1Known temperature T1The robot is in a positive floating state at sea level, and buoyancy is eliminatedThe device is arranged on a robot, the robot still keeps a positive floating state, and the sea level density is rho1There are:
m0+mp-ρ1·v1-ρ1·vpnot equal to 0 (formula 1)
After the robot is submerged to a predetermined depth, the volume of the air bag becomes v due to the change of the pressure2Sea water density is rho2Known pressure p2Known temperature T2The robot still keeps the positive floating state, and at this time:
m0+mp-ρ2·v2-ρ2·vpΔ F/g (equation 2)
The ideal gas state equation is:
in practical applications, the gas is not an ideal gas, but when p, T is known, the amount of change Δ v in v can be found from the gas state curve of the corresponding gas by a constant c. Thus v2Can be expressed as follows:
v2＝v1+ Δ v (equation 4)
Finally, the following equations (1), (2) and (4) can be used to obtain:
where a is 1-rho1/ρp,b＝1-ρ2/ρp,v1Is the required inflation volume of the airbag, mpIs the ballast mass required.
Installation procedure of the invention
Before the underwater robot works in water, the required charge is calculated by formulas (1), (2) and (4) according to the preset working depth and the seawater density curveVolume of gas v1And ballast mass mp. Firstly, a small amount of water is filled into the air bag 1 through the water valve 5, the water is sealed by the sealing device a6, then the air in the air bag 1 is exhausted through the air valve 7 and the inflation pipe connector 10, the air bag 1 is inflated through the inflation pipe connector 10 by using the auxiliary tool, and the required air volume v is measured through the air cylinder 151If the required gas volume exceeds the maximum measurement of the gas cylinder 15, a second measurement is made. The sealing means b8 is opened, the inflation pipe joint 19 is connected to the inflation pipe joint 10 of the ballast fixing bolt 9 and fixed, and then the air valve 5 is opened to start inflation. After inflation, the airtight valve 5 is closed, the connection between the inflation pipe connector 19 and the inflation pipe connector 10 on the ballast fixing bolt 9 is disconnected, and the sealing device b8 is closed. Then ballast is installed, and the total ballast mass is m by combinationpThe required ballast is fixed on the ballast fixing bolt 9, and after all the ballast is fixed, the ballast anti-falling rod 11 is locked to ensure that the ballast does not fall off. After the whole device is configured, the device is fixed on the underwater robot, and the bolt 3 penetrates through the screw hole 2 to be fixed with the underwater robot. Then the underwater robot starts to dive, when the underwater robot dives to the working depth, the pressure of the seawater is increased, the volume of the air bag 1 is reduced after shrinkage, the total displacement volume of the underwater robot is reduced, and then the buoyancy is reduced, at the moment, the buoyancy of the robot is increased due to the increase of the density of the seawater, and through estimation in advance, the buoyancy loss caused by the compression of the air bag 1 is exactly equal to the buoyancy caused by the increase of the density, so that the robot is still in a state of gravity and buoyancy balance, and the purpose of eliminating the residual buoyancy is achieved.
In summary, the invention discloses a passive removing device for residual buoyancy of a deep sea underwater robot, which belongs to the technical field of underwater robots and comprises a device main body and an auxiliary tool, wherein the device main body comprises an air bag, a bottom plate, a valve, a sealing device, a ballast fixing bolt, a ballast anti-release rod and a ballast, the compressible air bag is bonded with one side of the bottom plate, the other side of the bottom plate is provided with a water channel, a gas channel, a corresponding valve and a corresponding sealing device, the ballast fixing bolt is connected with the bottom plate, the ballast can be installed on the ballast fixing bolt and can prevent the ballast from loosening through the ballast anti-release rod, and the device main body can be installed on a robot carrier through a fixing hole; the auxiliary tool comprises an inflation cylinder and an inflation tube, and the inflation quantity of the air bag can be accurately controlled by using the scale of the inflation cylinder. The invention has the beneficial effects that: the device can passively lose quantitative buoyancy at a preset depth without any external control, eliminate the residual buoyancy added by the carrier of the deep-sea underwater robot, simultaneously does not damage the positive floating state of the underwater robot on the sea surface, can adjust the buoyancy elimination amount according to the working water depth before the robot is launched into the water, and has simple structure and convenient use.
Claims (7)
1. The utility model provides a passive remove device of deep sea underwater robot remaining buoyancy which characterized in that: the ballast fixing bolt is communicated with the air bag and is also provided with a ballast anti-falling rod for preventing the ballast from falling off, an inflation pipe interface is arranged at the center of the end part of the ballast fixing bolt, a sealing device is arranged at one end, close to the bottom plate, of the ballast fixing bolt, an air valve and a water valve which are communicated with the ballast bolt are arranged on the sealing device, water is filled or drained through the water valve, and air is filled or exhausted through the air valve and the inflation pipe interface.
2. The deep sea underwater robot residual buoyancy passive elimination device according to claim 1, characterized in that: the sealing device comprises an upper sealing device a and a lower sealing device b, the air valve is arranged on the sealing device b, and the water valve is arranged on the sealing device a.
3. The deep sea underwater robot residual buoyancy passive elimination device according to claim 1 or 2, characterized in that: and the metal bottom plate is also provided with a fixing hole and a fixing bolt which are fixedly connected with the robot carrier.
4. The deep sea underwater robot residual buoyancy passive elimination device according to claim 2, characterized in that: when the ballast anti-dropping device is used, water is filled into the air bag through the water valve, the sealing device a is used for sealing the water, then the air in the air bag is emptied through the air valve and the inflation pipe interface, the air cylinder is used for filling air with the required volume into the air bag through the inflation pipe interface, then the sealing device b is used for sealing the air, then the ballast with the required weight is installed on the ballast fixing bolt, and the ballast anti-dropping rod is locked.
5. The deep sea underwater robot residual buoyancy passive elimination device according to claim 3, characterized in that: when the ballast anti-dropping device is used, water is filled into the air bag through the water valve, the sealing device a is used for sealing the water, then the air in the air bag is emptied through the air valve and the inflation pipe interface, the air cylinder is used for filling air with the required volume into the air bag through the inflation pipe interface, then the sealing device b is used for sealing the air, then the ballast with the required weight is installed on the ballast fixing bolt, and the ballast anti-dropping rod is locked.
6. The deep sea underwater robot residual buoyancy passive elimination device according to claim 4, characterized in that: the inflation pipe joint of the inflator is connected with the inflation pipe joint to realize the inflation of the air bag, and the inflator is made of transparent plastic and is marked with scales taking milliliters as a unit.
7. The deep sea underwater robot residual buoyancy passive elimination device according to claim 5, characterized in that: the inflation pipe joint of the inflator is connected with the inflation pipe joint to realize the inflation of the air bag, and the inflator is made of transparent plastic and is marked with scales taking milliliters as a unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050457.9A CN111216857B (en) | 2020-01-17 | 2020-01-17 | Passive eliminating device for residual buoyancy of deep-sea underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010050457.9A CN111216857B (en) | 2020-01-17 | 2020-01-17 | Passive eliminating device for residual buoyancy of deep-sea underwater robot |
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| CN111216857A true CN111216857A (en) | 2020-06-02 |
| CN111216857B CN111216857B (en) | 2021-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111657184A (en) * | 2020-06-19 | 2020-09-15 | 钟灿灿 | Novel imitative octopus adjustable is environmental detection under water device |
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| CN109000838A (en) * | 2018-05-25 | 2018-12-14 | 哈尔滨工程大学 | A kind of buoyancy measurement method suitable for complete extra large depth AUV |
| CN109334929A (en) * | 2018-11-07 | 2019-02-15 | 哈尔滨工业大学（威海） | A kind of submerged buoyancy self-checking device and its application method |
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2020
- 2020-01-17 CN CN202010050457.9A patent/CN111216857B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10235842A1 (en) * | 2002-05-17 | 2003-11-27 | Peter Leitholf | Transport system for divers comprises a transport vessel and a diving capsule in the form of a closable floating body which incorporates a chamber for a diver, and is fillable with water while in operation |
| CN103061318A (en) * | 2013-01-25 | 2013-04-24 | 河海大学 | Air bag type water filling-emptying auxiliary system for ship lock |
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN108016588A (en) * | 2017-12-30 | 2018-05-11 | 中国科学院沈阳自动化研究所 | A kind of passive pneumatic type buoyancy compensation device of underwater robot |
| CN109000838A (en) * | 2018-05-25 | 2018-12-14 | 哈尔滨工程大学 | A kind of buoyancy measurement method suitable for complete extra large depth AUV |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111657184A (en) * | 2020-06-19 | 2020-09-15 | 钟灿灿 | Novel imitative octopus adjustable is environmental detection under water device |
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