CN113562147A - Deep sea energy storage type buoyancy adjusting device and adjusting method thereof - Google Patents
Deep sea energy storage type buoyancy adjusting device and adjusting method thereof Download PDFInfo
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- CN113562147A CN113562147A CN202110879758.7A CN202110879758A CN113562147A CN 113562147 A CN113562147 A CN 113562147A CN 202110879758 A CN202110879758 A CN 202110879758A CN 113562147 A CN113562147 A CN 113562147A
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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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
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Abstract
The deep sea energy storage type buoyancy adjusting device provided by the invention has the advantages that an oil outlet of the energy accumulator (1) is divided into two ways through an oil way inside the control valve box (5), wherein one way of the oil way is connected to one end of the first switch valve (6), the other end of the first switch valve (6) is connected to one end of the bidirectional gear pump (3), and the other end of the bidirectional gear pump (3) is connected to the outer oil bag (2); the other oil way is connected to one end of the third switch valve (10), the other end of the third switch valve (10) is connected to the outlet end of the speed regulating valve (11), the inlet end of the speed regulating valve (11) is connected with the outer oil bag (2), and the deep sea energy storage type buoyancy regulating device utilizes the energy accumulator (1) to accumulate gas equivalent to the working water depth pressure in advance, so that when the system is filled with oil from the energy accumulator (1) to the outer oil bag (2), the pressure difference between the inlet and the outlet of the bidirectional gear pump (3) is small, and the consumption of energy is remarkably reduced. In addition, the invention also provides a deep sea energy storage type buoyancy adjusting method.
Description
Technical Field
The invention relates to the technical field of underwater operation, in particular to a deep sea energy storage type buoyancy adjusting device and an adjusting method thereof.
Background
The deep sea base station type operation platform is novel underwater operation equipment developed based on the deep sea lander technology, has the capability of long-time fixed-point operation of the deep sea lander, can also carry ROV or AUV to carry out cooperative operation, can move on the sea floor, realizes the transfer of operation sites, can meet more diversified deep sea detection tasks, and is an important supplement to the current underwater operation equipment system.
When the deep sea base station type operation platform works at a fixed point on the seabed, the deep sea base station type operation platform needs to have larger negative buoyancy to resist external disturbance such as ocean current and the like, so that a fixed position and posture are kept. When the operation site is transferred, the operation site is firstly switched from a sitting state to a suspension state, one method is to provide upward power through a propeller, and the method is simple, direct and easy to control, but has larger energy consumption and is continuously accumulated along with time; the other method adopts buoyancy adjustment, and has the advantage that the buoyancy adjustment is only needed once when moving one site, and is not related to the moving time and distance, so the method is a more common technical scheme. For a conventional buoyancy regulating system, no matter mass type or volume type regulation is carried out, the working pressure of the system is the deep sea environment pressure, and the larger the working depth is, the more energy is consumed. Because the deep sea base station type operation platform has large buoyancy adjusting range and more adjusting times, the reduction of the energy consumption of the buoyancy adjusting system has important significance. Meanwhile, the technology has good applicability to other operation equipment.
Disclosure of Invention
In view of the above, there is a need for a deep sea energy storage type buoyancy adjusting device which solves the problem that the conventional buoyancy adjusting system is large in energy consumption when working in a deep sea environment.
In order to solve the problems, the invention adopts the following technical scheme:
the application provides a deep sea energy storage formula buoyancy regulating device on the one hand, includes: the energy storage device comprises an energy accumulator (1), an outer oil bag (2), a bidirectional gear pump (3), a direct current motor (4), a control valve box (5), a first switch valve (6), a second switch valve (7), an overflow valve (9), a third switch valve (10) and a speed regulating valve (11), wherein the bidirectional gear pump (3) is fixedly connected with the direct current motor (4), and the first switch valve (6), the second switch valve (7), the pressure sensor (8), the overflow valve (9), the third switch valve (10) and the speed regulating valve (11) are all installed inside the control valve box (5); wherein:
an oil outlet of the energy accumulator (1) is divided into two paths through an oil path inside the control valve box (5), wherein one path of oil path is connected to one end of the first switch valve (6), the other end of the first switch valve (6) is connected to one end of the bidirectional gear pump (3), and the other end of the bidirectional gear pump (3) is connected to the outer oil bag (2); the other oil way is connected to one end of a third switch valve (10), the other end of the third switch valve (10) is connected to the outlet end of the speed regulating valve (11), and the inlet end of the speed regulating valve (11) is connected with the outer oil bag (2);
and two ports of the bidirectional gear pump (3) are respectively connected with two ports of the second switch valve (7) and two ports of the overflow valve (9) to form an unloading starting loop.
In some embodiments, the energy accumulator (1) is composed of a plurality of parallel leather bag type units, and any leather bag type unit adopts a carbon fiber winding type shell.
In some embodiments, the system further comprises a manual stop valve (13) and the changeover valve block (12) which are arranged corresponding to the bag type units, an oil outlet of any bag type unit is connected with one end of the changeover valve block (12) after passing through the corresponding manual stop valve (13), and the other end of the changeover valve block (12) is connected to the control valve box (5).
In some embodiments, the outer oil bag (2) is a bellows type leather bag device capable of stretching along a straight line, the leather bag device is exposed in seawater, hydraulic oil is filled in the leather bag device, and the leather bag device is pre-tightened by a spring, so that the internal oil pressure is slightly larger than the ambient seawater pressure all the time.
In some embodiments, the outer oil bag (2) is also internally provided with a linear potentiometer (201), and the lead of the linear potentiometer (201) is connected to the control circuit board (22) inside the control valve box (5) through a cabin penetrating connector (19) and a watertight cable (18).
In some embodiments, the lead of the direct current motor (4) is connected to a control circuit board (22) inside the control valve box (5) through a wiring pipe joint (21) and an oil pipe (14).
In some embodiments, the control valve box (5) further comprises a pressure sensor (8), and a pressure detection port of the pressure sensor (8) is positioned on a pipeline between the oil outlet of the accumulator (1) and the first switch valve (6) and is used for detecting the pressure inside the accumulator (1) in real time.
In some embodiments, the control circuit board (22) is connected with the underwater operation platform through a cabin penetrating connector (19) on the left side of the control valve box (5) and a watertight cable (18), and the control circuit board (22) can control the opening and closing actions of the switch valves, the opening and closing and speed regulation of the direct current motor (4), acquire the measurement data of the pressure sensor (8) and the linear potentiometer 201, execute the control instruction of the operation platform and realize the buoyancy regulation in the deep sea environment.
In some embodiments, a plug (20) and an exhaust valve (23) are further arranged on the side edge of the control valve box (5), and the plug (20) is used for plugging a valve body process hole of the control valve box (5); the exhaust valve (23) is used for exhausting internal gas when the control valve box (5) is closed.
In some embodiments, the energy accumulator (1), the outer oil bag (2), the bidirectional gear pump (3), the direct current motor (4) and the control valve box (5) can be independently installed on an underwater operation platform, and can be combined with a three-way pipe joint (16) through a ferrule type pipe joint (17) and a hydraulic steel pipe (15) to realize connection of oil paths.
In another aspect, the present application further provides a method for adjusting the deep sea energy storage type buoyancy adjusting device, including:
the lowest allowable oil quantity in the energy accumulator (1) is VaThe outer oil bag (2) allowsThe lowest oil volume is VbIf the adjustment quantity required by the system is delta V, the quantity of hydraulic oil injected into the energy accumulator (1) is VI＝Va+ Δ V, the amount of hydraulic oil injected into the outer oil bag (2) being VE＝Vb；
According to the environmental conditions of the system subsea operation, calculating the pre-charging pressure of the energy accumulator (1) as follows: p0＝P1T0/T1Wherein, T0Room temperature, P, when charging the energy accumulator (1)1Is the ambient pressure, T, of the system during subsea operation1The system is the ambient temperature during the seabed operation;
when the buoyancy needs to be adjusted to increase during the operation of the seabed, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve (6) are opened, hydraulic oil in the accumulator (1) flows to the outer oil bag (2), and the water discharge volume of the system is increased;
the buoyancy regulating quantity of the system can be obtained through the outer oil bag (2), and further closed-loop control of buoyancy regulation is realized by controlling the on-off and rotating speed of the direct current motor (4) and the on-off of the first switch valve (6);
the discharge of the hydraulic oil in the energy accumulator (1) leads to the gradual reduction of the internal pressure, and when the maximum adjustment amount of the system is completed, the internal pressure of the energy accumulator (1) is as follows: p2＝P1V1/V2Wherein V is1＝VT-VI，V2＝V1+ΔV，VTIs the effective volume of the accumulator (1);
the maximum working pressure of the buoyancy regulating system;
when the system needs to adjust the buoyancy to be reduced during the operation on the seabed, the third switch valve (10) is opened, the hydraulic oil in the outer oil bag (2) flows back to the inside of the energy accumulator (1) at a constant flow rate through the speed adjusting valve (11), and the volume of the drained water of the system is reduced; meanwhile, the internal pressure of the energy accumulator (1) is gradually increased, so that secondary energy accumulation is realized;
the buoyancy regulating amount of the system can be obtained through the oil amount of the outer oil bag, and then closed-loop control of buoyancy regulation is realized through controlling the third switch valve (10);
when the system is on the water surface, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve are opened, hydraulic oil in the outer oil bag (2) is injected into the energy accumulator (1), and an unloading starting loop formed by the second switch valve (7) and the overflow valve (9) is connected in parallel at two ends of the bidirectional gear pump (3) and used for starting when the working pressure of the system is higher; and opening the second switch valve (7), and controlling the switch of the first switch valve (6) to discharge the hydraulic oil in the energy accumulator (1) into the outer oil bag (2) so as to realize the prior adjustment of the submerged buoyancy state of the system.
By adopting the technical scheme, the invention has the following technical effects:
the deep sea energy storage type buoyancy adjusting device provided by the invention has the advantages that an oil outlet of the energy accumulator (1) is divided into two ways through an oil way inside the control valve box (5), wherein one way of the oil way is connected to one end of the first switch valve (6), the other end of the first switch valve (6) is connected to one end of the bidirectional gear pump (3), and the other end of the bidirectional gear pump (3) is connected to the outer oil bag (2); the other oil way is connected to one end of a third switch valve (10), the other end of the third switch valve (10) is connected to the outlet end of the speed regulating valve (11), and the inlet end of the speed regulating valve (11) is connected with the outer oil bag (2); the two ports of the bidirectional gear pump (3) are respectively connected with the two ports of the second switch valve (7) and the two ports of the overflow valve (9) to form an unloading starting loop, and the deep sea energy storage type buoyancy regulating device utilizes the energy accumulator (1) to accumulate gas equivalent to the working water depth pressure in advance, so that when the system injects oil from the energy accumulator (1) to the external oil bag (2), the pressure difference between the inlet and the outlet of the bidirectional gear pump (3) is small, and the energy consumption is obviously reduced; on the contrary, because the pressure of the environmental seawater is larger than the internal pressure of the energy accumulator (1), when the external oil bag (2) returns oil to the energy accumulator, the energy is not required to be consumed, and the energy accumulator is also stored again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a deep-sea energy-storage buoyancy regulating device provided in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of another view of the deep-sea energy-storage type buoyancy regulating device provided by the embodiment of the invention.
Fig. 3 is a front view of a control valve housing with a cover removed, according to an embodiment of the present invention.
Wherein: the device comprises an energy accumulator 1, an outer oil bag 2, a bidirectional gear pump 3, a direct current motor 4, a control valve box 5, a first switch valve 6, a second switch valve 7, a pressure sensor 8, an overflow valve 9, a third switch valve 10, a speed regulating valve 11, a switching valve block 12, a manual stop valve 13, an oil pipe 14, a hydraulic steel pipe 15, a three-way pipe joint 16, a ferrule type pipe joint 17, a watertight cable 18, a cabin penetrating connector 19, a plug 20, a wiring pipe joint 21, a control circuit board 22, an exhaust valve 23 and a linear potentiometer 201.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "horizontal", "inside", "outside", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
Referring to fig. 1, a schematic structural diagram of a deep-sea energy-storage buoyancy adjusting device according to an embodiment of the present invention includes: the energy storage device comprises an energy storage device (1), an outer oil bag (2), a bidirectional gear pump (3), a direct current motor (4), a control valve box (5), a first switch valve (6), a second switch valve (7), an overflow valve (9), a third switch valve (10) and a speed regulating valve (11), wherein the bidirectional gear pump (3) is fixedly connected with the direct current motor (4), and the first switch valve (6), the second switch valve (7), a pressure sensor (8), the overflow valve (9), the third switch valve (10) and the speed regulating valve (11) are all installed inside the control valve box (5). The connection relationship between the respective components and the implementation thereof are described in detail below.
An oil outlet of the energy accumulator (1) is divided into two paths through an oil path inside the control valve box (5), wherein one path of oil path is connected to one end of the first switch valve (6), the other end of the first switch valve (6) is connected to one end of the bidirectional gear pump (3), and the other end of the bidirectional gear pump (3) is connected to the outer oil bag (2); the other oil way is connected to one end of a third switch valve (10), the other end of the third switch valve (10) is connected to the outlet end of the speed regulating valve (11), and the inlet end of the speed regulating valve (11) is connected with the outer oil bag (2); and two ports of the bidirectional gear pump (3) are respectively connected with two ports of the second switch valve (7) and two ports of the overflow valve (9) to form an unloading starting loop.
It can be understood that hydraulic oil in the accumulator (1) is injected into the outer oil bag (2) through the first switch valve (6) by the bidirectional gear pump (3) to complete the increase of the adjusting buoyancy; the hydraulic oil in the outer oil bag (2) flows back to the energy accumulator (1) through the speed regulating valve (11) and the third switch valve (10) to complete the reduction of the adjusting buoyancy, so that the buoyancy adjustment is realized through the transfer of the hydraulic oil between the energy accumulator (1) and the outer oil bag (2).
In some embodiments, the energy accumulator (1) is composed of a plurality of parallel leather bag type units, and any leather bag type unit adopts a carbon fiber winding type shell, so that the energy accumulator has the characteristics of light weight and capability of bearing pressure in two directions.
In some embodiments, the system further comprises a manual stop valve (13) and the changeover valve block (12) which are arranged corresponding to the bag type units, an oil outlet of any bag type unit is connected with one end of the changeover valve block (12) after passing through the corresponding manual stop valve (13), and the other end of the changeover valve block (12) is connected to the control valve box (5).
In some embodiments, the outer oil bag (2) is a bellows type leather bag device capable of stretching along a straight line, the leather bag device is exposed in seawater, hydraulic oil is filled in the leather bag device, and the leather bag device is pre-tightened by a spring, so that the internal oil pressure is slightly larger than the ambient seawater pressure all the time.
It can be understood that because the outer oil pocket that this application adopted is bellows formula leather bag device, has the characteristics that the volume is big, the linearity is good, can satisfy the buoyancy regulation demand of great capacity.
It can be understood that control valve box (5), direct current motor (4), outer oil pocket (2) in this application are inside oil-filled non-bearing structure, and energy storage ware (1) adopts the carbon fiber winding shell of light, and the whole quality of device is light, and is positive buoyancy in aqueous, reducible underwater operation platform buoyancy material's use amount.
Referring to fig. 2 and fig. 3, the bidirectional gear pump (3) is directly connected to the dc motor (4) to form a bidirectional motor-pump set. The direct current motor (4) is connected to a control circuit board (22) inside the control valve box (5) through a lead arranged on the side edge of the control valve box (5) through a wiring pipe joint (21) and an oil pipe (14). It can be understood that the control circuit board (22) can control the on-off and speed regulation of the direct current motor (4).
Please refer to fig. 2 and fig. 3, the outer oil bag (2) is further internally provided with a linear potentiometer (201), and a lead of the linear potentiometer (201) is connected to the control circuit board (22) inside the control valve box (5) through a cabin penetrating connector (19) and a watertight cable (18) arranged on the control valve box (5). It is understood that the measurement data of the linear potentiometer 201 can be acquired on the control circuit board (22).
In some embodiments, the control valve box (5) further comprises a pressure sensor (8), and a pressure detection port of the pressure sensor (8) is positioned on a pipeline between the oil outlet of the accumulator (1) and the first switch valve (6) and is used for detecting the pressure inside the accumulator (1) in real time.
In some embodiments, the control circuit board (22) is connected with the underwater operation platform through a cabin penetrating connector (19) on the left side of the control valve box (5) and a watertight cable (18), and the control circuit board (22) can control the opening and closing actions of the switch valves, the opening and closing and speed regulation of the direct current motor (4), acquire the measurement data of the pressure sensor (8) and the linear potentiometer 201, execute the control instruction of the operation platform and realize the buoyancy regulation in the deep sea environment.
In some embodiments, a plug (20) and an exhaust valve (23) are further arranged on the side edge of the control valve box (5), and the plug (20) is used for plugging a valve body process hole of the control valve box (5); the exhaust valve (23) is used for exhausting internal gas when the control valve box (5) is closed.
In some embodiments, the energy accumulator (1), the outer oil bag (2), the bidirectional gear pump (3), the direct current motor (4) and the control valve box (5) can be independently installed on an underwater operation platform, and can be combined with a three-way pipe joint (16) through a ferrule type pipe joint (17) and a hydraulic steel pipe (15) to realize connection of oil paths.
As each part of the underwater operation platform is independently installed and connected through the pipeline, the underwater operation platform can be flexibly arranged according to the characteristics of the underwater operation platform; and the underwater operation platform is connected with the underwater operation platform through a watertight cable, and has the functions of automatic adjustment and manual adjustment, and the use is convenient.
The application also provides an adjusting method of the deep sea energy storage type buoyancy adjusting device, which comprises the following steps:
step S110: the lowest allowable oil quantity in the energy accumulator (1) is VaThe minimum oil amount allowed by the outer oil bag (2) is VbIf the adjustment quantity required by the system is delta V, the quantity of hydraulic oil injected into the energy accumulator (1) is VI＝Va+ Δ V, the amount of hydraulic oil injected into the outer oil bag (2) being VE＝Vb；
Step S120: according to the environmental conditions of the system subsea operation, calculating the pre-charging pressure of the energy accumulator (1) as follows: p0＝P1T0/T1Wherein, T0Room temperature, P, when charging the energy accumulator (1)1Is the ambient pressure, T, of the system during subsea operation1The system is the ambient temperature during the seabed operation;
step S130: when the buoyancy needs to be adjusted to increase during the operation of the seabed, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve (6) are opened, hydraulic oil in the accumulator (1) flows to the outer oil bag (2), and the water discharge volume of the system is increased;
step S140: the buoyancy regulating quantity of the system can be obtained through the outer oil bag (2), and further closed-loop control of buoyancy regulation is realized by controlling the on-off and rotating speed of the direct current motor (4) and the on-off of the first switch valve (6);
specifically, the linear potentiometer 201 arranged in the outer oil bag 2 reads to indicate the oil amount of the outer oil bag 2, so that the buoyancy regulating amount of the system can be obtained, and the closed-loop control of buoyancy regulation is realized by controlling the on-off and the rotating speed of the direct current motor 4 and the on-off of the first switch valve 6.
Step S150: the discharge of the hydraulic oil in the energy accumulator (1) leads to the gradual reduction of the internal pressure, and when the maximum adjustment amount of the system is completed, the internal pressure of the energy accumulator (1) is as follows: p2＝P1V1/V2Wherein，V1＝VT-VI，V2＝V1+ΔV，VTIs the effective volume of the accumulator (1);
the maximum working pressure of the buoyancy regulating system;
step S160: when the system needs to adjust the buoyancy to be reduced during the operation on the seabed, the third switch valve (10) is opened, the hydraulic oil in the outer oil bag (2) flows back to the inside of the energy accumulator (1) at a constant flow rate through the speed adjusting valve (11), and the volume of the drained water of the system is reduced; meanwhile, the internal pressure of the energy accumulator (1) is gradually increased, so that secondary energy accumulation is realized;
step S170: the buoyancy regulating amount of the system can be obtained through the oil amount of the outer oil bag, and then closed-loop control of buoyancy regulation is realized through controlling the third switch valve (10);
specifically, the linear potentiometer 201 arranged in the outer oil bag 2 reads to indicate the oil amount of the outer oil bag 2, so that the buoyancy regulating amount of the system can be obtained, and the third switch valve 10 is controlled to realize closed-loop control of buoyancy regulation.
Step S180: when the system is on the water surface, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve are opened, hydraulic oil in the outer oil bag (2) is injected into the energy accumulator (1), and an unloading starting loop formed by the second switch valve (7) and the overflow valve (9) is connected in parallel at two ends of the bidirectional gear pump (3) and used for starting when the working pressure of the system is higher; and opening the second switch valve (7), and controlling the switch of the first switch valve (6) to discharge the hydraulic oil in the energy accumulator (1) into the outer oil bag (2) so as to realize the prior adjustment of the submerged buoyancy state of the system.
It can be understood that the unloading starting circuit formed by the bidirectional gear pump 3, the second switch valve 7 and the overflow valve 9 which are connected in parallel is mainly used when the system is on the water surface.
According to the deep sea energy storage type buoyancy adjusting device provided by the embodiment of the application, the energy accumulator (1) is used for accumulating gas with the same depth and pressure as the working water in advance, so that when the system is filled with oil from the energy accumulator (1) to the external oil bag (2), because the pressure difference between the inlet and the outlet of the bidirectional gear pump (3) is small, the energy consumption is remarkably reduced; on the contrary, because the pressure of the environmental seawater is larger than the internal pressure of the energy accumulator (1), when the external oil bag (2) returns oil to the energy accumulator, the energy is not required to be consumed, and the energy accumulator is also stored again.
The foregoing is considered as illustrative only of the preferred embodiments of the invention, and is presented merely for purposes of illustration and description of the principles of the invention and is not intended to limit the scope of the invention in any way. Any modifications, equivalents and improvements made within the spirit and principles of the invention and other embodiments of the invention without the creative effort of those skilled in the art are included in the protection scope of the invention based on the explanation here.
Claims (11)
1. A deep sea energy storage type buoyancy regulating device is characterized by comprising: the energy storage device comprises an energy accumulator (1), an outer oil bag (2), a bidirectional gear pump (3), a direct current motor (4), a control valve box (5), a first switch valve (6), a second switch valve (7), an overflow valve (9), a third switch valve (10) and a speed regulating valve (11), wherein the bidirectional gear pump (3) is fixedly connected with the direct current motor (4), and the first switch valve (6), the second switch valve (7), the pressure sensor (8), the overflow valve (9), the third switch valve (10) and the speed regulating valve (11) are all installed inside the control valve box (5); wherein:
an oil outlet of the energy accumulator (1) is divided into two paths through an oil path inside the control valve box (5), wherein one path of oil path is connected to one end of the first switch valve (6), the other end of the first switch valve (6) is connected to one end of the bidirectional gear pump (3), and the other end of the bidirectional gear pump (3) is connected to the outer oil bag (2); the other oil way is connected to one end of a third switch valve (10), the other end of the third switch valve (10) is connected to the outlet end of the speed regulating valve (11), and the inlet end of the speed regulating valve (11) is connected with the outer oil bag (2);
and two ports of the bidirectional gear pump (3) are respectively connected with two ports of the second switch valve (7) and two ports of the overflow valve (9) to form an unloading starting loop.
2. The deep sea energy storage type buoyancy regulating device according to claim 1, wherein the energy accumulator (1) is composed of a plurality of parallel bladder type units, and any bladder type unit adopts a carbon fiber winding type shell.
3. The deep sea energy storage type buoyancy regulating device according to claim 2, further comprising a manual stop valve (13) and the switching valve block (12) which are arranged corresponding to the bellows type units, wherein an oil outlet of any one of the bellows type units is connected with one end of the switching valve block (12) through the corresponding manual stop valve (13), and the other end of the switching valve block (12) is connected to the control valve box (5).
4. The deep sea energy storage type buoyancy regulating device according to claim 1, wherein the outer oil bag (2) is a bellows type leather bag device capable of extending and retracting along a straight line, the leather bag device is exposed to seawater, is filled with hydraulic oil, and is pre-tightened by a spring, so that the internal oil pressure is always slightly larger than the ambient seawater pressure.
5. The deep sea energy storage type buoyancy regulating device according to claim 1, wherein the outer oil bag (2) is further internally provided with a linear potentiometer (201), and the lead of the linear potentiometer (201) is connected to the control circuit board (22) inside the control valve box (5) through a cabin penetrating connector (19) and a watertight cable (18).
6. The deep sea energy accumulating buoyancy regulating device according to claim 1, characterized in that the lead of the direct current motor (4) is connected to a control circuit board (22) inside the control valve box (5) through a wiring pipe joint (21) and an oil pipe (14).
7. The deep sea energy-storing buoyancy regulating device according to claim 1, characterized in that the control valve box (5) further comprises a pressure sensor (8) inside, and a pressure detection port of the pressure sensor (8) is located on a pipeline between the oil outlet of the energy accumulator (1) and the first switch valve (6) and is used for detecting the pressure inside the energy accumulator (1) in real time.
8. The deep sea energy storage type buoyancy regulating device according to claim 5, 6 or 7, wherein the control circuit board (22) is connected with the underwater operation platform through a cabin penetrating connector (19) on the left side of the control valve box (5) and a watertight cable (18), and the control circuit board (22) can control the opening and closing actions of the switch valves, the opening and closing and speed regulation of the direct current motor (4), acquire the measurement data of the pressure sensor (8) and the linear potentiometer 201, execute the control instruction of the operation platform and realize the buoyancy regulation in the deep sea environment.
9. The deep sea energy storage type buoyancy regulating device according to claim 1, wherein a plug (20) and an exhaust valve (23) are further arranged on the side edge of the control valve box (5), and the plug (20) is used for plugging a valve body fabrication hole of the control valve box (5); the exhaust valve (23) is used for exhausting internal gas when the control valve box (5) is closed.
10. The deep sea energy storage type buoyancy adjusting device according to claim 1, wherein the energy accumulator (1), the outer oil bag (2), the bidirectional gear pump (3), the direct current motor (4) and the control valve box (5) can be independently installed on an underwater operation platform, and oil paths can be connected through any combination of a ferrule type pipe joint (17), a hydraulic steel pipe (15) and a three-way pipe joint (16).
11. A method of adjusting the deep sea stored energy buoyancy adjustment device of claim 1, comprising:
the lowest allowable oil quantity in the energy accumulator (1) is VaThe minimum oil amount allowed by the outer oil bag (2) is VbIf the system required adjustment quantity is delta V, the quantity of hydraulic oil injected into the energy accumulator (1) isIs a VI＝Va+ Δ V, the amount of hydraulic oil injected into the outer oil bag (2) being VE＝Vb；
According to the environmental conditions of the system subsea operation, calculating the pre-charging pressure of the energy accumulator (1) as follows:
wherein, T0Room temperature, P, when charging the energy accumulator (1)1Is the ambient pressure, T, of the system during subsea operation1The system is the ambient temperature during the seabed operation;
when the buoyancy needs to be adjusted to increase during the operation of the seabed, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve (6) are opened, hydraulic oil in the accumulator (1) flows to the outer oil bag (2), and the water discharge volume of the system is increased;
the buoyancy regulating quantity of the system can be obtained through the outer oil bag (2), and further closed-loop control of buoyancy regulation is realized by controlling the on-off and rotating speed of the direct current motor (4) and the on-off of the first switch valve (6);
the discharge of the hydraulic oil in the energy accumulator (1) leads to the gradual reduction of the internal pressure, and when the maximum adjustment amount of the system is completed, the internal pressure of the energy accumulator (1) is as follows:
wherein, V1＝VT-VI，V2＝V1+ΔV，VTIs the effective volume of the accumulator (1);
the maximum working pressure of the buoyancy regulating system;
when the system needs to adjust the buoyancy to be reduced during the operation on the seabed, the third switch valve (10) is opened, the hydraulic oil in the outer oil bag (2) flows back to the inside of the energy accumulator (1) at a constant flow rate through the speed adjusting valve (11), and the volume of the drained water of the system is reduced; meanwhile, the internal pressure of the energy accumulator (1) is gradually increased, so that secondary energy accumulation is realized;
the buoyancy adjusting amount of the system can be obtained through the oil amount of the outer oil bag (2), and then closed-loop control of buoyancy adjustment is realized through controlling the third switch valve (10);
when the system is on the water surface, the bidirectional gear pump (3), the direct current motor (4) and the first switch valve are opened, hydraulic oil in the outer oil bag (2) is injected into the energy accumulator (1), and an unloading starting loop formed by the second switch valve (7) and the overflow valve (9) is connected in parallel at two ends of the bidirectional gear pump (3) and used for starting when the working pressure of the system is higher; and opening the second switch valve (7), and controlling the switch of the first switch valve (6) to discharge the hydraulic oil in the energy accumulator (1) into the outer oil bag (2) so as to realize the prior adjustment of the submerged buoyancy state of the system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116654161A (en) * | 2023-07-31 | 2023-08-29 | 山东大学 | Bionic underwater unmanned aircraft |
| CN116654161B (en) * | 2023-07-31 | 2023-10-31 | 山东大学 | Bionic underwater unmanned aircraft |
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