CN112504656A - Buoyancy adjusting mechanism testing device for simulating underwater pressure environment - Google Patents
Buoyancy adjusting mechanism testing device for simulating underwater pressure environment Download PDFInfo
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- CN112504656A CN112504656A CN202011492076.2A CN202011492076A CN112504656A CN 112504656 A CN112504656 A CN 112504656A CN 202011492076 A CN202011492076 A CN 202011492076A CN 112504656 A CN112504656 A CN 112504656A
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- 238000012360 testing method Methods 0.000 title claims abstract description 30
- 239000003921 oil Substances 0.000 claims abstract description 88
- 239000000498 cooling water Substances 0.000 claims abstract description 17
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 17
- 230000001105 regulatory effect Effects 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 8
- 239000013535 sea water Substances 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 42
- 238000007789 sealing Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims 1
- 238000005086 pumping Methods 0.000 abstract description 8
- 238000001816 cooling Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000011160 research Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention relates to a buoyancy regulating mechanism testing device for simulating an underwater pressure environment, which comprises a bottom cover, an upper cover, a valve block, a pressure gauge, an overflow valve and a cooling water circulation system, wherein the pressure gauge and the overflow valve are installed on the valve block, the pressure of an oil way can be changed by regulating the overflow valve, the pressure regulating mechanism is used for simulating the pressure conditions borne by the buoyancy regulating mechanism at different depths in seawater, and the power consumption and the efficiency of pumping oil of the buoyancy regulating mechanism at different pressures are tested; in addition, a pressure transmitter is connected in series in front of the pressure gauge, the pressure transmitter can be calibrated, the automatic operation of the testing device can be realized through program control, the deep sea oil pumping and sea surface oil returning processes of the underwater robot are simulated in an accelerated mode, the reliability of the buoyancy adjusting mechanism is verified, and a cooling water circulating system is formed by combining a bottom cover and an upper cover together to form a closed loop for cooling hydraulic oil in the testing device. The invention has the advantages of compact structure, wide application range, automatic test, convenient assembly and maintenance and the like.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a buoyancy adjusting mechanism testing device for simulating an underwater pressure environment.
Background
The underwater robot has developed for many years, the prior art is gradually mature, and the underwater glider and the like are widely applied, thereby providing an important tool for ocean research in China. At present, many scientific research institutions and universities have research institutions of underwater gliders, but the corresponding test platforms are not perfect enough.
Disclosure of Invention
The invention aims to provide a device for testing a buoyancy adjusting mechanism for simulating an underwater environment, which is used for testing the efficiency of a buoyancy system of an underwater robot in an actual sea test.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a bottom cover, an upper cover, a valve block, a pressure gauge, an overflow valve and a cooling water circulation system, wherein the bottom cover is connected with the upper cover, the valve block is arranged on the upper cover, the pressure gauge and the overflow valve are respectively connected with the valve block, the pressure gauge and the overflow valve are connected in series in an oil circuit, and two ends of the oil circuit are respectively communicated with an inner oil bag, a buoyancy driving device and an outer oil bag; the cooling water circulation system is formed by combining a bottom cover and an upper cover together through screws, a closed loop A for water to flow and a closed loop B for hydraulic oil to flow are formed inside the cooling water circulation system, the hydraulic oil between the inner oil bag and the buoyancy driving device and between the inner oil bag and the outer oil bag is pumped by a pressure gauge, an overflow valve and the closed loop B in a circulating manner, and the cooling water is cooled by the cooling circulating water in the closed loop A in the process that the hydraulic oil passes through the closed loop B; the pressure in the oil way is changed by adjusting the overflow valve, and the pressure value passes through the reading of the pressure gauge, so that the pressure condition borne by the buoyancy adjusting mechanism at different depths in the seawater is simulated.
Wherein: the cooling water circulation system comprises a bottom cover, an upper cover and a water pump, wherein a closed loop A and a closed loop B are respectively arranged in the bottom cover, sealing rings are respectively arranged between the closed loop A and the closed loop B and on the periphery of the closed loop B, a water inlet pipeline and a water return pipeline are respectively arranged in the upper cover, one end of the water inlet pipeline is communicated with the closed loop A, the other end of the water inlet pipeline is communicated with a water inlet pipe joint arranged on the upper cover, the other end of the water return pipeline is communicated with a water return pipe joint arranged on the upper cover, and the water inlet pipe joint and the water return pipe joint are respectively connected with the water pump through water pipes.
An oil inlet of the valve block is communicated with the inner oil bag and the inner oil bag in the buoyancy driving device, an oil outlet of the valve block is communicated with an oil inlet of the closed loop B through an oil pipe, and an oil outlet of the closed loop B is communicated with the outer oil bag.
And a pressure transmitter is connected in the oil way in series and is positioned between the inner oil bag and the pressure gauge.
The pressure gauge is connected to the pressure gauge adapter through threads, the pressure gauge adapter is connected to the valve block through threads, and the overflow valve is connected to the valve block through threads.
The invention has the advantages and positive effects that:
1. the invention has compact structure and small space, all modules adopt standardized design as far as possible, and all outsourcing parts adopt universal products.
2. In the test process, because the continuous test can raise the temperature of the hydraulic oil, the test result is influenced, and the cooling water circulation system added in the invention can reduce the oil temperature and ensure that the oil temperature is in a set range.
3. Automated testing: the invention can realize automatic operation through programming and can quickly simulate the deep-sea oil pumping and sea surface oil returning processes of the underwater robot.
4. The application range is wide: the invention can be used in the whole sea depth range and can be used for various underwater robots.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a sectional view showing the structure of a cooling water circulation system according to the present invention;
FIG. 3 is a schematic diagram of the structure of the present invention;
wherein: the device comprises a base plate 1, an upper cover 2, a valve block 3, a pressure gauge 4, an overflow valve 5, an inner oil bag and a buoyancy driving device 6, an outer oil bag 7, a sealing ring 8, a pressure transmitter 9, a closed loop A10, a water inlet pipe joint 11, a water inlet pipeline 12, a water return pipeline 13, a water return pipe joint 14, a closed loop B15 and an oil pipe 16.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention comprises a bottom cover 1, an upper cover 2, a valve block 3, a pressure gauge 4, an overflow valve 5 and a cooling water circulation system, wherein the bottom cover 1 and the upper cover 2 are combined through screws, the valve block 3 is installed on the upper cover 2, the pressure gauge 4 is connected on a pressure gauge adapter through threads, the pressure gauge adapter is connected on the valve block 3 through threads, the overflow valve 5 is connected on the valve block 3 through threads, the pressure gauge 4 and the overflow valve 5 are connected in series in an oil path, and two ends of the oil path are respectively communicated with an inner oil bag, a buoyancy driving device 6 and an outer oil bag 7; the internal oil bladder and buoyancy drive device 6 of the present embodiment is conventional, and supplies pressure oil to the test device.
After the bottom cover 1 and the upper cover 2 are combined together through screws, a closed loop A10 for water to flow and a closed loop B15 for hydraulic oil to flow are formed inside the cooling water circulation system, the closed loop A10 is located inside the closed loop B15, the hydraulic oil between the inner oil bag and the outer oil bag 7 in the inner oil bag and the buoyancy driving device 6 is circularly pumped through the pressure gauge 4, the overflow valve 5 and the closed loop B15, and the hydraulic oil is cooled through cooling circulating water in the closed loop A10 in the process of passing through the closed loop B15, so that the hydraulic oil is in a set temperature range, and the testing accuracy is guaranteed. The cooling water circulation system of this embodiment includes bottom 1, upper cover 2 and water pump, closed circuit A10 and closed circuit B15 have been seted up respectively in the bottom 1, all be equipped with sealing washer 8 between closed circuit A10 and the closed circuit B15 and the closed circuit B15 periphery, water intake pipe 12 and return water pipeline 13 have been seted up respectively in the upper cover 2, the one end of this water intake pipe 12 communicates with closed circuit A10, the other end communicates with the inlet tube connector 11 of installation on the upper cover 2, the one end and the closed circuit A10 intercommunication of return water pipeline 13, the other end communicates with the return water pipe connector 14 of installation on the upper cover 2, inlet tube connector 11 and return water pipe connector 14 link to each other with the water pump through the water pipeline respectively.
The oil inlet of the valve block 3 of the embodiment is communicated with the oil bag in the inner oil bag through a steel pipe, hydraulic oil is supplied to the testing device through the inner oil bag and the buoyancy driving device 6, the oil outlet of the valve block 3 is communicated with the oil inlet of a closed loop B15 through an oil pipe 16, and the oil outlet of the closed loop B15 is communicated with an outer oil bag 7. The pressure in the oil way is changed by adjusting the overflow valve 5, and the pressure value is read by the pressure gauge 4 and is used for simulating the pressure condition borne by the buoyancy adjusting mechanism at different depths in the seawater. And testing the power consumption and efficiency of the buoyancy regulating mechanism for pumping oil under different pressures.
In the embodiment, a pressure transmitter 9 is connected in series in an oil path, and the pressure transmitter 9 is positioned between the inner oil bag of the inner oil bag and buoyancy driving device 6 and the pressure gauge 4; the pressure of the overflow valve 5 is adjusted, and the pressure value in the oil way can be obtained through the pressure gauge 4, so that the pressure transmitter 9 can be calibrated.
The test method comprises the following steps:
a pressure gauge 4 and an overflow valve 5 are connected in series in an oil way, the overflow valve 5 is adjusted, the pressure in the oil way is changed, different depths of the underwater robot in a sea test are simulated, and the efficiency of the buoyancy driving device is tested. In addition, a pressure transmitter 9 is connected in series in the oil path, so that the pressure transmitter 5 can be calibrated, hydraulic oil can be pumped into the outer oil bag 7 from the inner oil bag through programming, and then is pumped back into the inner oil bag through the outer oil bag 7, and reciprocating circulation oil pumping is realized. The method specifically comprises the following steps:
adjusting the pressure of the overflow valve 5 to enable the value to be equal to zero so as to simulate the condition of the underwater robot on the water surface; pumping hydraulic oil with fixed capacity into an outer oil bag 7, and recording current and time; increasing the pressure of the overflow valve 5 to 2MPa, recording the current and the time, repeating the previous steps, increasing 2MPa each time, and calculating the efficiency of the buoyancy driving device, wherein the calculation formula is as follows:
wherein: p is pressure intensity, V is oil volume, U is working voltage, I is working current, and t is oil pumping time.
After the program of the buoyancy driving device is well programmed, hydraulic oil can be pumped into the outer oil bag 7 from the inner oil bag and the inner oil bag in the buoyancy driving device 6, and then the hydraulic oil is pumped back into the inner oil bag from the outer oil bag 7, so that reciprocating circulation oil pumping is realized, the condition that the underwater robot executes tasks in a sea test is simulated, and the condition of the buoyancy driving device can be actually observed.
The invention mainly aims at shallow sea underwater robots such as underwater gliders, tests the working state of the buoyancy regulating mechanism and tests the capacity and efficiency of the buoyancy system by simulating the working condition of the underwater robot in the actual sea test process, thereby providing technical support for the sea test.
Claims (5)
1. The utility model provides a buoyancy adjustment mechanism testing arrangement of pressure environment under simulation which characterized in that: the device comprises a bottom cover (1), an upper cover (2), a valve block (3), a pressure gauge (4), an overflow valve (5) and a cooling water circulation system, wherein the bottom cover (1) is connected with the upper cover (2), the valve block (3) is installed on the upper cover (2), the pressure gauge (4) and the overflow valve (5) are respectively connected onto the valve block (3), the pressure gauge (4) and the overflow valve (5) are connected in series in an oil way, and two ends of the oil way are respectively communicated with an inner oil bag, a buoyancy driving device (6) and an outer oil bag (7); the cooling water circulation system is formed by combining a bottom cover (1) and an upper cover (2) together through screws, a closed loop A (10) for water to flow and a closed loop B (15) for hydraulic oil to flow are formed inside the cooling water circulation system, the hydraulic oil between the inner oil bag and the buoyancy driving device (6) and the outer oil bag (7) is circularly pumped through a pressure gauge (4), an overflow valve (5) and the closed loop B (15), and the cooling water in the closed loop A (10) is cooled in the process that the hydraulic oil passes through the closed loop B (15); the pressure in the oil way is changed by adjusting the overflow valve (5), and the pressure value is read by the pressure gauge (4), so that the pressure condition borne by the buoyancy adjusting mechanism at different depths in the seawater is simulated.
2. The device for testing a buoyancy regulating mechanism for simulating an underwater pressure environment according to claim 1, wherein: the cooling water circulation system comprises a bottom cover (1), an upper cover (2) and a water pump, wherein a closed loop A (10) and a closed loop B (15) are respectively arranged in the bottom cover (1), sealing rings (8) are arranged between the closed loop A (10) and the closed loop B (15) and at the periphery of the closed loop B (15), a water inlet pipeline (12) and a water return pipeline (13) are respectively arranged in the upper cover (2), one end of the water inlet pipeline (12) is communicated with the closed loop A (10), the other end is communicated with a water inlet pipe joint (11) arranged on the upper cover (2), one end of the water return pipeline (13) is communicated with the closed loop A (10), the other end is communicated with a water return pipe joint (14) arranged on the upper cover (2), the water inlet pipe joint (11) and the water return pipe joint (14) are respectively connected with the water pump through water pipelines.
3. The device for testing a buoyancy regulating mechanism for simulating an underwater pressure environment according to claim 2, wherein: an oil inlet of the valve block (3) is communicated with the inner oil bag and the inner oil bag in the buoyancy driving device (6), an oil outlet is communicated with an oil inlet of the closed loop B (15) through an oil pipe (16), and an oil outlet of the closed loop B (15) is communicated with the outer oil bag (7).
4. The device for testing a buoyancy regulating mechanism for simulating an underwater pressure environment according to claim 1, wherein: and a pressure transmitter (9) is connected in series in the oil circuit, and the pressure transmitter (9) is positioned between the inner oil bag of the inner oil bag and buoyancy driving device (6) and the pressure gauge (4).
5. The device for testing a buoyancy regulating mechanism for simulating an underwater pressure environment according to claim 1, wherein: manometer (4) are through threaded connection on the manometer adaptor, and this manometer adaptor is through threaded connection on valve block (3), overflow valve (5) are through threaded connection on valve block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011492076.2A CN112504656A (en) | 2020-12-17 | 2020-12-17 | Buoyancy adjusting mechanism testing device for simulating underwater pressure environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011492076.2A CN112504656A (en) | 2020-12-17 | 2020-12-17 | Buoyancy adjusting mechanism testing device for simulating underwater pressure environment |
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| CN112504656A true CN112504656A (en) | 2021-03-16 |
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| CN202011492076.2A Pending CN112504656A (en) | 2020-12-17 | 2020-12-17 | Buoyancy adjusting mechanism testing device for simulating underwater pressure environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115979696A (en) * | 2023-03-17 | 2023-04-18 | 天津大学 | Operation simulation system of automatic lifting device |
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Cited By (2)
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