CN115535148A - Marine robot with hydrofoil regulation and energy supply functions and working method thereof - Google Patents
Marine robot with hydrofoil regulation and energy supply functions and working method thereof Download PDFInfo
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- CN115535148A CN115535148A CN202211367929.9A CN202211367929A CN115535148A CN 115535148 A CN115535148 A CN 115535148A CN 202211367929 A CN202211367929 A CN 202211367929A CN 115535148 A CN115535148 A CN 115535148A
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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
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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
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63G8/08—Propulsion
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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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- 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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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
The invention relates to a marine robot with hydrofoil regulation and energy supply functions and a working method thereof, belonging to the field of marine detection equipment. The invention relates to an Argo buoy integrated with a hydraulic wing plate, which can change the motion direction of an ocean robot by adjusting the opening and closing angle of the hydraulic wing plate in the floating or submerging process, can carry out jumping motion in an ocean vertical section, realizes active horizontal displacement and enlarges the information acquisition area. Meanwhile, before the marine robot submerges to the seabed, the submerging speed is slowed down by the hydraulic wing plates, and the marine robot is supported in an auxiliary mode by the hydraulic wing plates after bottoming, so that overturning is prevented. In addition, when the buoy floats to the sea surface, the hydraulic wing plates are used for absorbing wave energy of the sea surface, and the wave energy is converted into pressure energy of hydraulic oil in the energy accumulator for wing plate driving.
Description
Technical Field
The invention relates to a hydrofoil-regulated and energy-supplied marine robot and a working method thereof, and belongs to the technical field of marine detection equipment.
Background
About 71 percent of the area of the earth is covered by the ocean, and the ocean contains abundant energy and resources, which has important significance for the development of human civilization. In recent years, human beings have been exploring the ocean, and various ocean observation tools, such as self-made submersibles, underwater helicopters, argo buoys, underwater unmanned vehicles and the like, have been rapidly developed. The Argo buoy is an ocean observation robot capable of automatically realizing floating and submerging and simultaneously completing data monitoring and transmission. The Argo buoy utilizes a self-carried battery to provide energy for equipment, changes the net buoyancy of the equipment by adjusting the volume of an oil bag body, thereby realizing floating, submergence or suspension, acquires various environmental parameters in the sea through a sensor, transmits acquired data back to a shore-based system through a satellite system through an antenna after the buoy floats to the sea surface, and repeats the movement until the energy consumption is finished.
The Argo buoy plays an important role in the ocean exploration process due to the advantages of low cost, high automation degree, simple principle and the like. However, in the process of floating and submerging, the Argo buoy cannot automatically adjust the movement track, the energy of equipment completely depends on a battery carried by the Argo buoy, and the complex and long-time information acquisition work of the Argo buoy is not facilitated. And the Argo buoy is easily influenced by water flow, can not hover at the near sea bottom, can not realize seabed in-situ observation and sampling, and limits the application range of the Argo buoy.
At present, the existing Argo buoy can only drift freely under the action of ocean currents when working underwater, realizes floating and submerging motions by utilizing the change of the net buoyancy of the buoy, cannot actively adjust the motion direction, and cannot finish the controllable motion in the horizontal direction. In the ocean fixed point vertical profile measurement system, researchers have proposed a scheme for providing energy for a profile observation platform by using wave energy. For example, the invention patent with the application number of CN202010767655.7 provides a wave energy power generation observation buoy, which utilizes a plurality of wave energy linear motion conversion mechanisms and pneumatic wave energy power generation units arranged on a semi-submersible main platform to generate electric energy, and provides energy for observation equipment through a suspension cable. Still like the utility model patent of application number CN202120426005.6, provide a wave energy section observation buoy based on wireless charging under water, utilize the wireless principle of charging, can in time provide the electric energy for section observation platform under water, satisfy the data interaction and the electric energy transmission requirement of section buoy all-weather, real-time supervision process. However, the conventional Argo buoy is provided with energy by a battery carried by the buoy, and the endurance capacity is limited.
Therefore, by utilizing the prior technical scheme, the Argo buoy can not realize the autonomous movement direction adjustment or the in-situ observation at the sea bottom, and can not realize the ultra-long-term continuous observation of ocean parameters.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a marine robot for hydrofoil regulation and energy supply and a working method thereof. Meanwhile, before the marine robot submerges to the seabed, the submerging speed is slowed down by the hydraulic wing plate, and the marine robot is supported by the hydraulic wing plate in an auxiliary mode after bottoming, so that overturning is prevented. In addition, when the buoy floats to the sea surface, the hydraulic wing plates are used for absorbing wave energy of the sea surface, and the wave energy is converted into pressure energy of hydraulic oil in the energy accumulator for wing plate driving.
The invention adopts the following technical scheme:
a marine robot for hydrofoil regulation and energy supply comprises a pressure-resistant shell, wherein a sensor and a communication antenna are arranged at the top end of the outer part of the pressure-resistant shell, the sensor is used for collecting temperature, salinity and depth parameter information of a marine water body, and the communication antenna is used for transmitting data with a satellite and obtaining positioning information through the satellite; the bottom end of the outer part of the pressure-resistant shell is provided with a buoyancy oil bag which is directly contacted with seawater, and the volume of the oil bag is changed by controlling the oil quantity in the buoyancy oil bag, so that the net buoyancy of the equipment is changed;
the hydraulic buoyancy and hydraulic cylinder adjusting device is used for adjusting the oil quantity in the oil storage oil bag and the buoyancy oil bag, changing the net buoyancy of the equipment and controlling the hydraulic cylinder to stretch; the control module is used for sending control signals to the hydraulic buoyancy and hydraulic cylinder adjusting device and processing monitoring information fed back by the sensor; the energy accumulator is used for storing hydraulic pressure energy and transmitting the pressure energy to the hydraulic cylinder to drive the piston rod of the hydraulic cylinder to extend or retract;
four hydraulic wing plates are circumferentially arranged in the middle of the pressure-resistant shell, the top ends of the hydraulic wing plates are connected to the middle of the pressure-resistant shell through hinges, the hydraulic wing plates are hinged with the pressure-resistant shell, and the hydraulic wing plates can rotate for a certain angle around the hinged point of the pressure-resistant shell; and a hydraulic cylinder is arranged between the pressure-resistant shell and each hydraulic wing plate.
Preferably, the hydraulic cylinder comprises a cylinder barrel and a piston rod, the cylinder barrel is in sliding connection with the piston rod, the top end of the piston rod is installed on the inner side of the hydraulic wing plate, the top end of the piston rod is hinged with the hydraulic wing plate, the bottom end of the cylinder barrel is hinged with a flange at the bottom of the pressure-resistant shell, and the cylinder barrel can rotate for a certain angle around a hinged joint of the pressure-resistant shell.
Preferably, the hydraulic wing plates are cambered surfaces, and after the four hydraulic wing plates are closed, a complete cylinder can be formed, so that the fluid performance is good. And the plane hydraulic wing plate is of a square structure after being closed, so that the fluid performance is poor.
Preferably, the marine robot for hydrofoil regulation and energy supply further comprises a hydraulic system, wherein the hydraulic system comprises four hydraulic modules, an oil storage oil bag, a buoyancy oil bag, a three-position three-way electromagnetic valve, an energy accumulator, an electromagnetic switch valve A, an electromagnetic switch valve B, an overflow valve, a one-way valve E, a filter, a two-way hydraulic pump, a motor and a hydraulic pipeline;
the four hydraulic modules have the same structure and connection relationship and are respectively used for controlling the four hydraulic cylinders; each hydraulic module comprises a one-way valve A, a one-way valve B, a one-way valve C, a one-way valve D, a hydraulic control one-way valve A, a hydraulic control one-way valve B and a three-position four-way servo valve;
the bidirectional hydraulic pump is fixedly connected with the motor; one end of the two-way hydraulic pump is connected with the overflow valve and is connected with the oil storage oil bag through a filter, the other end of the two-way hydraulic pump is connected with one oil port of the three-position three-way electromagnetic valve, the second oil port of the three-position three-way electromagnetic valve is connected with the buoyancy oil bag, and the third oil port of the three-position three-way electromagnetic valve is respectively connected with the three-position four-way servo valves of the four hydraulic modules and is connected with the energy accumulator through the electromagnetic switch valve A; working oil ports of three-position four-way servo valves of the four hydraulic modules are respectively connected with the four hydraulic cylinders through hydraulic control one-way valves A and hydraulic control one-way valves B, and oil return ports of the three-position four-way servo valves of the four hydraulic modules are connected with an oil tank through a filter through one-way valves E; two oil ports of each hydraulic cylinder are also respectively connected with an electromagnetic switch valve A through a one-way valve B and a one-way valve C, and the electromagnetic switch valve A is connected with an energy accumulator; the oil storage oil bag is connected with two oil ports of each hydraulic cylinder through a one-way valve A and a one-way valve D respectively after passing through an electromagnetic switch valve B.
Preferably, the hydraulic system is installed inside the pressure-resistant shell except the buoyancy oil bag, and the hydraulic control one-way valve A, the hydraulic control one-way valve B, the three-position four-way servo valve, the three-position three-way electromagnetic valve, the electromagnetic switch valve A, the electromagnetic switch valve B, the overflow valve, the one-way valve A, the one-way valve B, the one-way valve C, the one-way valve D, the one-way valve E, the filter, the two-way hydraulic pump, the motor and the hydraulic pipeline are integrally installed in the hydraulic buoyancy and hydraulic cylinder adjusting device.
Preferably, the bottom of the hydraulic flaps is longer than the bottom of the pressure casing when the four hydraulic flaps are retracted and abutted against the pressure casing.
The marine robot with hydrofoil regulation and energy supply can autonomously realize floating and submerging motions through the net buoyancy of the regulating equipment, and finish motions in a horizontal plane by means of the hydraulic wing plate to realize autonomous regulation of the motion direction; the ocean wave energy can be captured by means of the cooperation of the hydraulic wing plate and the hydraulic system, the captured energy is used for driving the hydraulic wing plate to move underwater, the consumption of electric energy is reduced, the service life of the robot is prolonged, and the ultra-long-term continuous observation of ocean parameters can be realized.
The three-position four-way servo valve can be replaced by a three-position four-way proportional valve, so that the problem that the quality of a servo system to hydraulic oil is too high is avoided, and the reliability of the hydraulic system is improved;
the number of accumulators may be changed according to the working environment of the marine robot to improve the utilization efficiency of wave energy and the applicable range of the apparatus.
When the marine robot working method for hydrofoil regulation and energy supply works, after a mother ship finishes laying the marine robot, tasks of a wave energy storage stage, a quick submergence stage, a track adjustment stage, a horizontal displacement stage, a slow descent landing stage, a bottom sitting working stage and a floating stage can be executed, and conversion among the stages is realized by adjusting the volume of equipment and the opening and closing angle of a hydraulic wing plate;
in the wave energy storage stage, when the ocean robot submerges or emerges from the water surface, the ocean robot reaches a hovering state by adjusting the buoyancy oil bag, and enters the wave energy storage stage; the four hydraulic wing plates are completely opened to be horizontal and float on the surface of the ocean; under the action of waves, the four hydraulic wing plates swing up and down along with the fluctuation of the sea surface to drive a piston rod in the hydraulic cylinder to reciprocate, high-pressure oil in the hydraulic cylinder is conveyed to an energy accumulator, and pressure energy converted from ocean wave energy is stored;
in the rapid submergence stage, the four hydraulic wing plates are retracted and tightly abut against the pressure-resistant shell, so that the fluid resistance of the marine robot in the vertical direction is reduced; the hydraulic system enables the volume of the buoyancy oil bag to be reduced, so that the buoyancy borne by the marine robot is reduced, and the marine robot quickly dives under the action of gravity;
the track adjusting stage and the horizontal displacement stage determine the motion direction of the marine robot and the opening and closing angle of a hydraulic wing plate according to the target position to be reached by the marine robot: when the marine robot works underwater, if the marine robot needs to move to the lower right, the control module sends a signal to reduce the volume of the buoyancy oil bag, reduce the net buoyancy of the equipment, submerge the equipment, simultaneously adjust the opening and closing angles of the hydraulic wing plates, increase the opening and closing angle of the hydraulic wing plate on the left side, induce fluid resistance to generate component force in the horizontal direction, push the marine robot to generate component speed in the horizontal direction, and enable the marine robot to reach an expected position; if the ocean robot is required to move towards different directions, only the net buoyancy of the equipment is required to be adjusted to enable the ocean robot to float upwards or submerge, and the hydraulic wing plates are adjusted to corresponding angles; meanwhile, according to the working principle, the buoyancy adjustment quantity is increased, and the hydraulic wing plates are continuously fluttered, so that the jumping action of the ocean robot in an ocean vertical section is realized, and the horizontal displacement is carried out;
in the slow landing stage, the four hydraulic wing plates are completely opened, so that the fluid resistance is increased, the submerging speed is reduced, and the stable bottoming of the marine robot is realized;
in the bottom sitting working stage, the opening and closing angles of the four hydraulic wing plates are adjusted, so that the four hydraulic wing plates are in contact with the seabed to play a supporting role, at the moment, the bottom of the pressure-resistant shell is also in contact with the seabed, the bottom sitting posture of the marine robot is adjusted by controlling the opening and closing angles of the hydraulic wing plates, and when the ocean current impacts, the anti-overturning capacity of the marine robot can be improved by the supporting function of the hydraulic wing plates;
in the floating stage, the opening and closing angles of the four hydraulic wing plates are adjusted to enable the hydraulic wing plates to lean against the pressure-resistant shell, the lower parts of the hydraulic wing plates interact with the seabed to generate acting force for lifting the marine robot, and the marine robot is supported to be separated from seabed sediments; and then, the hydraulic wing plates are retracted and abut against the pressure-resistant shell, so that the fluid resistance of the marine robot in the vertical direction is reduced until the marine robot floats to the sea surface.
Preferably, when the hydraulic wing plate is required to store wave energy, the motor stops rotating, the three-position three-way electromagnetic valve is located in the middle position, the three-position four-way servo valves of the four hydraulic modules are located in the middle position, and the electromagnetic switch valve A and the electromagnetic switch valve B are located in the left position and are communicated with the oil way; when the four hydraulic wing plates swing up and down, the piston rod moves back and forth left and right, and high-pressure hydraulic oil in a rod cavity and a rodless cavity of the hydraulic cylinder is squeezed into the energy accumulator through the one-way valve B and the one-way valve C, so that the energy accumulator is utilized to store pressure energy; at the moment, the hydraulic oil in the oil storage oil bag enters the hydraulic cylinder through the one-way valve A and the one-way valve D to supplement the hydraulic oil, and the hydraulic cylinder can continuously input high-pressure hydraulic oil into the energy accumulator; in the wave energy storage stage, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing in a small amplitude, the motor stops rotating, three-position three-way electromagnetic valves of the four hydraulic modules are located in the middle position, the electromagnetic switch valve A is located in the right position to connect an oil path, the electromagnetic switch valve B is located in the right position to disconnect the oil path, and the energy accumulator provides high-pressure hydraulic oil for the main oil path; if the three-position four-way servo valve is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and the hydraulic oil in a rodless cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; if the three-position four-way servo valve is positioned at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, a piston rod moves rightwards, and hydraulic oil in a rod cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; in the process, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing greatly, the electromagnetic switch valve A and the electromagnetic switch valve B are both located at the right position to cut off an oil way, the three-position three-way electromagnetic valve is located at the right position, the motor drives the two-way hydraulic pump to rotate in the forward direction, hydraulic oil in the oil storage oil bag enters the two-way hydraulic pump through the filter, if the three-position four-way servo valve is located at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, the piston moves rightwards, and hydraulic oil in a rod cavity of the hydraulic cylinder enters the oil storage oil bag through the one-way valve E and the filter; if the three-position four-way servo valve is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and hydraulic oil in a rodless cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; in the process, the working conditions of the four hydraulic cylinders are the same;
when the marine robot is required to realize the floating motion, the three-position three-way electromagnetic valve is arranged at the left position, the motor drives the two-way hydraulic pump to rotate positively, hydraulic oil enters the buoyancy oil bag from the oil storage oil bag, the drainage volume of the marine robot is increased, and the floating motion is realized;
when the marine robot is required to realize diving movement, the three-position three-way electromagnetic valve is arranged at the left position, the motor drives the two-way hydraulic pump to rotate reversely, hydraulic oil enters the force storage oil bag from the buoyancy oil bag, the water discharging volume of the marine robot is reduced, and the diving movement is realized.
Preferably, the small amplitude oscillation means an angle change of less than 60 °, and the large amplitude oscillation means an angle change of 60 ° or more.
The invention can be carried out by adopting the prior art without details.
The invention has the beneficial effects that:
according to the invention, the hydraulic wing plate is integrated on the Argo buoy, the marine robot for hydrofoil regulation and energy supply is constructed, when the marine robot floats on the sea surface, the wave energy can be converted into the pressure energy of hydraulic oil by utilizing the swing of the hydraulic wing plate and stored in the energy accumulator, and the pressure energy is utilized to drive the hydraulic wing plate to move underwater, so that the consumption of the marine robot on electric energy is reduced, and the service life is prolonged; when the robot moves in a water body, the opening angle of the hydraulic wing plate is controlled to adjust the direction of the fluid resistance on the ocean robot, so that the adjustment of the movement track is realized, and the slow landing can be realized by utilizing the fluid resistance generated by the hydraulic wing plate so as to prevent the equipment from being damaged by impact; when the marine robot works on the seabed, jumping in the horizontal direction can be realized by adjusting the opening angle of the hydraulic wing plate and matching with floating and submerging of the marine robot; meanwhile, the hydraulic wing plate can play a role in auxiliary support at the seabed, and the anti-overturning capacity of the marine robot is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of a hydrofoil regulated and powered marine robot of the present invention;
FIG. 2 is a schematic structural view of four hydraulic wings of the hydrofoil regulating and powering marine robot of the present invention;
FIG. 3 is a schematic diagram of a hydraulic system of a hydrofoil regulated and powered marine robot of the present invention;
FIG. 4 is a schematic view of the wave energy absorbing stages of the foil regulated and powered marine robot of the present invention;
FIG. 5 is a schematic diagram of a rapid descent phase of a hydrofoil regulated and powered marine robot of the present invention;
FIG. 6 is a schematic diagram of a trajectory or position adjustment phase of a hydrofoil-regulated and powered marine robot of the present invention;
FIG. 7 is a schematic view of a horizontal jump of a hydrofoil regulated and powered marine robot of the present invention;
FIG. 8 is a schematic view of a slow descent landing stage of a hydrofoil-regulated and powered marine robot of the present invention;
FIG. 9 is a schematic view of the bottom sitting stage of the marine robot with hydrofoil regulation and power supply of the present invention;
the system comprises a sensor 1, a control module 2, a pressure-resistant shell 3, a hydraulic wing 4, a first hydraulic wing 4, a second hydraulic wing 4, a third hydraulic wing 4, a fourth hydraulic wing 4, a hydraulic cylinder 5, a first hydraulic cylinder 5, a second hydraulic cylinder 5, a third hydraulic cylinder 5, a fourth hydraulic cylinder 5, a buoyancy oil bag 6, a battery pack 7, a hydraulic buoyancy and hydraulic cylinder adjusting device 8, a hinge 9, an energy accumulator 10, an oil storage oil bag 11, a communication antenna 12, a piston rod 13, a check valve 14, a check valve A15, a check valve B15, a check valve C15, a check valve D15, a check valve E16, an electromagnetic switch valve A, an electromagnetic switch valve B17, a check valve A18, a three-position four-way servo valve 20, a check valve 21, a check valve B, a three-way hydraulic pump 23, a three-way hydraulic pump 25, a hydraulic pump 26 and a two-way electromagnetic valve 26.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific examples, but the present invention is not limited thereto, and the present invention is not described in detail and is generally performed by the techniques in the art.
Example 1:
a marine robot for hydrofoil regulation and energy supply comprises a pressure-resistant shell 3, wherein a sensor 1 and a communication antenna 12 are arranged at the top end outside the pressure-resistant shell 3, the sensor 1 is used for collecting parameter information such as temperature, salinity and depth of a marine water body, and the communication antenna 12 is used for transmitting data with a satellite and obtaining positioning information through the satellite; the buoyancy oil bag 6 is arranged at the bottom end of the outer part of the pressure-resistant shell 3, the buoyancy oil bag 6 is directly contacted with seawater, and the net buoyancy of the equipment is changed by controlling the oil quantity in the buoyancy oil bag 6 to change the volume of the oil bag;
a hydraulic buoyancy and hydraulic cylinder adjusting device 8, a control module 2, a battery pack 7, an energy accumulator 10 and an oil storage oil bag 11 are arranged inside the pressure-resistant shell 3, and the hydraulic buoyancy and hydraulic cylinder adjusting device 8 is used for adjusting the oil quantity in the oil storage oil bag and the oil storage oil bag, changing the net buoyancy of the equipment and controlling the hydraulic cylinder to stretch and retract; the control module 2 is used for sending control signals to the hydraulic buoyancy and hydraulic cylinder adjusting device and processing monitoring information fed back by the sensor; the energy accumulator 10 is used for storing hydraulic pressure energy and transmitting the pressure energy to the hydraulic cylinder to drive the piston rod of the hydraulic cylinder to extend or retract;
four hydraulic wing plates 4 are circumferentially arranged in the middle of the pressure-resistant shell 3, the top ends of the hydraulic wing plates 4 are connected to the middle of the pressure-resistant shell 3 through hinges 9, the hydraulic wing plates are hinged with the pressure-resistant shell, and the hydraulic wing plates can rotate for a certain angle around the hinged point of the pressure-resistant shell; and a hydraulic cylinder 5 is arranged between the pressure-resistant shell 3 and each hydraulic wing plate.
As shown in fig. 2, the hydraulic wings include a first hydraulic wing 4.1, a second hydraulic wing 4.2, a third hydraulic wing 4.3 and a fourth hydraulic wing 4.4, and the corresponding hydraulic cylinders include a first hydraulic cylinder 5.1, a second hydraulic cylinder 5.2, a third hydraulic cylinder 5.3 and a fourth hydraulic cylinder 5.4.
Example 2:
the marine robot with the hydrofoil regulation and energy supply is different from the marine robot in that a hydraulic cylinder comprises a cylinder barrel 14 and a piston rod 13, the cylinder barrel 14 is in sliding connection with the piston rod 13, the top end of the piston rod 13 is installed on the inner side of a hydraulic wing plate, the top end of the piston rod 13 is hinged with the hydraulic wing plate, the bottom end of the cylinder barrel 14 is hinged with a flange at the bottom of a pressure-resistant shell 4, and the cylinder barrel can rotate for a certain angle around a hinged point of the pressure-resistant shell.
Example 3:
the marine robot with hydrofoil regulation and energy supply is characterized in that the hydraulic wing plates 4 are cambered surfaces, and a complete cylinder can be formed after the four hydraulic wing plates are closed, so that the fluid performance is good, as described in embodiment 2. And the plane hydraulic wing plate is of a square structure after being closed, so that the fluid performance is poor.
Example 4:
the marine robot for hydrofoil regulation and power supply is characterized in that, as described in embodiment 3, the marine robot for hydrofoil regulation and power supply further comprises a hydraulic system, wherein the hydraulic system comprises four hydraulic modules, an oil storage bag 11, a buoyancy oil bag 6, a three-position three-way electromagnetic valve 23, an energy accumulator 10, an electromagnetic switch valve A16, an electromagnetic switch valve B17, an overflow valve 20, a one-way valve E15.5, a filter 22, a two-way hydraulic pump 24, a motor 25 and a hydraulic pipeline 26;
the four hydraulic modules have the same structure and connection relationship and are respectively used for controlling the four hydraulic cylinders; each hydraulic module comprises a one-way valve A15.1, a one-way valve B15.2, a one-way valve C15.3, a one-way valve D15.4, a hydraulic control one-way valve A18, a hydraulic control one-way valve B21 and a three-position four-way servo valve 19;
the bidirectional hydraulic pump 24 is fixedly connected with the motor 25; one end of a bidirectional hydraulic pump 24 is connected with the overflow valve 20 and is connected with the oil storage oil bag 11 through a filter 22, the other end of the bidirectional hydraulic pump 24 is connected with one oil port of a three-position three-way electromagnetic valve 23, the second oil port of the three-position three-way electromagnetic valve 23 is connected with the buoyancy oil bag, and the third oil port of the three-position three-way electromagnetic valve 23 is respectively connected with three-position four-way servo valves 19 of the four hydraulic modules and is connected with the energy accumulator 10 through an electromagnetic switch valve A16; working oil ports of three-position four-way servo valves 19 of the four hydraulic modules are respectively connected with the four hydraulic cylinders through hydraulic control one-way valves A18 and B21, and oil return ports of the three-position four-way servo valves 19 of the four hydraulic modules are connected with an oil tank through a filter 22 by check valves E15.5; two oil ports of each hydraulic cylinder are also respectively connected with an electromagnetic switch valve A16 through a one-way valve B15.2 and a one-way valve C15.3, and the electromagnetic switch valve A16 is connected with the energy accumulator 10; the oil storage oil bag 11 passes through an electromagnetic switch valve B17 and then is respectively connected with two oil ports of each hydraulic cylinder through a one-way valve A15.1 and a one-way valve D15.4.
Example 5:
the marine robot with hydrofoil regulation and energy supply is characterized in that a hydraulic system is installed inside a pressure shell 3 except a buoyancy oil bag, and a hydraulic control one-way valve A18, a hydraulic control one-way valve B21, a three-position four-way servo valve 19, a three-position three-way electromagnetic valve 23, an electromagnetic switch valve A16, an electromagnetic switch valve B17, an overflow valve 20, a one-way valve A15.1, a one-way valve B15.2, a one-way valve C15.3, a one-way valve D15.4, a one-way valve E15.5, a filter 22, a two-way hydraulic pump 24, a motor 25 and a hydraulic pipeline 26 are integrally installed in a hydraulic buoyancy and hydraulic cylinder adjusting device, as described in embodiment 4.
Example 6:
a hydrofoil regulated and powered marine robot as described in example 5 except that the bottom of the four hydraulic wings are longer than the bottom of the pressure hull when the hydraulic wings are retracted and abutted against the pressure hull.
The marine robot with hydrofoils for regulation and control and energy supply can autonomously realize floating and submerging motions by regulating the net buoyancy of equipment, and finish the motions in a horizontal plane by means of a hydraulic wing plate to realize the autonomous regulation of the motion direction; the ocean wave energy can be captured by means of the cooperation of the hydraulic wing plate and the hydraulic system, the captured energy is used for driving the hydraulic wing plate to move underwater, the consumption of electric energy is reduced, the service life of the robot is prolonged, and the ocean parameter ultra-long-term continuous observation can be realized.
The three-position four-way servo valve can be replaced by a three-position four-way proportional valve, so that the problem that the quality of a servo system to hydraulic oil is too high is avoided, and the reliability of the hydraulic system is improved;
the number of accumulators may be changed according to the working environment of the marine robot to improve the utilization efficiency of wave energy and the applicable range of the equipment.
Example 7:
a working method of a marine robot for hydrofoil regulation and energy supply is characterized in that when the marine robot works, after a mother ship finishes laying the marine robot, tasks of a wave energy storage stage, a quick submergence stage, a track adjustment stage, a horizontal displacement stage, a slow descent landing stage, a bottom sitting working stage and a floating stage can be executed, and conversion among the stages is realized by adjusting the volume of equipment and the opening and closing angle of a hydraulic wing plate;
the wave energy storage stage, when the marine robot submerges or emerges from the water surface, the marine robot enters a hovering state by adjusting the buoyancy oil bag, and enters the wave energy storage stage; the four hydraulic wing plates are completely opened to be horizontal and float on the surface of the ocean; under the action of waves, the four hydraulic wing plates swing up and down along with the fluctuation of the sea surface to drive a piston rod in the hydraulic cylinder to reciprocate, high-pressure oil in the hydraulic cylinder is conveyed to an energy accumulator, and pressure energy converted from ocean wave energy is stored;
in the rapid submergence stage, the four hydraulic wing plates are retracted and tightly abut against the pressure-resistant shell, so that the fluid resistance of the ocean robot in the vertical direction is reduced; the hydraulic system enables the volume of the buoyancy oil bag to be reduced, so that the buoyancy borne by the marine robot is reduced, and the marine robot quickly dives under the action of gravity;
in the track adjusting stage and the horizontal shifting stage, the motion direction of the ocean robot and the opening and closing angle of a hydraulic wing plate are determined according to the target position to be reached by the ocean robot: when the marine robot works underwater, if the marine robot needs to move to the lower right, the control module sends a signal to reduce the volume of the buoyancy oil bag, reduce the net buoyancy of the equipment, submerge the equipment, simultaneously adjust the opening and closing angles of the hydraulic wing plates, increase the opening and closing angle of the hydraulic wing plate on the left side, induce fluid resistance to generate component force in the horizontal direction, push the marine robot to generate component speed in the horizontal direction, and enable the marine robot to reach an expected position; if the ocean robot is required to move towards different directions, only the net buoyancy of the equipment is required to be adjusted to enable the ocean robot to float upwards or submerge downwards, and the hydraulic wing plates are adjusted to corresponding angles; meanwhile, according to the working principle, the buoyancy adjustment amount is increased, and the hydraulic wing plates are continuously fluttered, so that the jumping action of the marine robot in a marine vertical section is realized, and the horizontal displacement is carried out;
in the slow landing stage, the four hydraulic wing plates are completely opened, so that the fluid resistance is increased, the submerging speed is reduced, and the stable bottoming of the marine robot is realized;
in the bottom sitting working stage, the opening and closing angles of the four hydraulic wing plates are adjusted, so that the four hydraulic wing plates are in contact with the seabed to play a supporting role, at the moment, the bottom of the pressure-resistant shell is also in contact with the seabed, the bottom sitting posture of the marine robot is adjusted by controlling the opening and closing angles of the hydraulic wing plates, and when the ocean current impacts, the anti-overturning capacity of the marine robot can be improved by the supporting function of the hydraulic wing plates;
in the floating stage, the opening and closing angles of the four hydraulic wing plates are adjusted to enable the hydraulic wing plates to lean against the pressure-resistant shell, the lower parts of the hydraulic wing plates interact with the seabed to generate acting force for lifting the ocean robot, and the ocean robot is supported to be separated from seabed sediments; and then, the hydraulic wing plates are retracted and abutted against the pressure-resistant outer shell, so that the fluid resistance of the marine robot in the vertical direction is reduced until the marine robot floats to the sea surface.
Example 8:
the working method of the marine robot for hydrofoil regulation and energy supply is as described in embodiment 7, except that when a hydraulic wing plate is required to store wave energy, a motor 25 stops rotating, a three-position three-way electromagnetic valve 23 is positioned at a middle position, three-position four-way servo valves 19 of four hydraulic modules are all positioned at the middle position, and an electromagnetic switch valve A16 and an electromagnetic switch valve B17 are positioned at a left position to connect an oil way; when the four hydraulic wing plates swing up and down, the piston rod moves left and right in a reciprocating manner, and high-pressure hydraulic oil in a rod cavity and a rodless cavity of the hydraulic cylinder is squeezed into the energy accumulator 10 through the check valve B15.2 and the check valve C15.3, so that the energy accumulator 10 is utilized to store pressure energy; at the moment, the hydraulic oil in the oil storage oil bag 11 enters the hydraulic cylinder through the one-way valve A15.1 and the one-way valve D15.4 to supplement the hydraulic oil, and the hydraulic cylinder can continuously input high-pressure hydraulic oil into the energy accumulator; in the wave energy storage stage, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing in a small amplitude (the angle change is less than 60 degrees), the motor 25 stops rotating, the three-position three-way electromagnetic valves of the four hydraulic modules are located in the middle position, the electromagnetic switch valve A16 is located in the right position to connect an oil path, the electromagnetic switch valve B17 is located in the right position to cut off the oil path, and the energy accumulator 10 provides high-pressure hydraulic oil for the main oil path; if the three-position four-way servo valve 19 is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and hydraulic oil in a rodless cavity of the hydraulic cylinder enters the oil storage oil bag 11 through a one-way valve E15.5 and a filter 22; if the three-position four-way servo valve 19 is positioned at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, a piston rod moves rightwards, and the hydraulic oil in a rod cavity of the hydraulic cylinder enters the oil storage oil bag 11 through a one-way valve E15.5 and a filter 22; in the process, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing greatly (the angle change is more than or equal to 60 degrees), the electromagnetic switch valve A16 and the electromagnetic switch valve B17 are both positioned at the right position to cut off an oil circuit, the three-position three-way electromagnetic valve 23 is positioned at the right position, the motor 25 drives the two-way hydraulic pump 24 to rotate in the forward direction, hydraulic oil in the oil storage oil bag 11 enters the two-way hydraulic pump 24 through the filter 22, if the three-position four-way servo valve 19 is positioned at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, the piston moves to the right, and the hydraulic oil in a rod cavity of the hydraulic cylinder enters the oil storage oil bag 11 through the one-way valve E and the filter; if the three-position four-way servo valve 19 is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and the hydraulic oil in a rodless cavity of the hydraulic cylinder enters an oil storage oil 11 bag through a one-way valve E15.5 and a filter 22; in the process, the working conditions of the four hydraulic cylinders are the same;
when the marine robot is required to realize the floating motion, the three-position three-way electromagnetic valve 23 is arranged at the left position, the motor 25 drives the two-way hydraulic pump 24 to rotate in the forward direction, hydraulic oil enters the buoyancy oil bag 6 from the oil storage oil bag 11, the drainage volume of the marine robot is increased, and the floating motion is realized;
when the marine robot is required to realize the diving movement, the three-position three-way electromagnetic valve 23 is arranged at the left position, the motor 25 drives the two-way hydraulic pump 24 to rotate reversely, hydraulic oil enters the force storage oil bag 11 from the buoyancy oil bag 6, the drainage volume of the marine robot is reduced, and the diving movement is realized.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A marine robot with hydrofoil regulation and energy supply is characterized by comprising a pressure-resistant shell, wherein the top end of the outer part of the pressure-resistant shell is provided with a sensor and a communication antenna, the sensor is used for acquiring temperature, salinity and depth parameter information of a marine water body, and the communication antenna is used for transmitting data with a satellite and obtaining positioning information through the satellite; the bottom end outside the pressure-resistant shell is provided with a buoyancy oil bag which is directly contacted with seawater;
the hydraulic buoyancy and hydraulic cylinder adjusting device is used for adjusting the oil quantity in the oil storage oil bag and the buoyancy oil bag, changing the net buoyancy of the equipment and controlling the hydraulic cylinder to stretch; the control module is used for sending control signals to the hydraulic buoyancy and hydraulic cylinder adjusting device and processing monitoring information fed back by the sensor;
the middle part of the pressure-resistant shell is circumferentially provided with four hydraulic wing plates, the top ends of the hydraulic wing plates are connected to the middle part of the pressure-resistant shell through hinges, the hydraulic wing plates are hinged with the pressure-resistant shell, and the hydraulic wing plates can rotate for a certain angle around the hinge points of the pressure-resistant shell; and a hydraulic cylinder is arranged between the pressure-resistant shell and each hydraulic wing plate.
2. The marine robot with hydrofoil regulation and power supply function as claimed in claim 1, wherein the hydraulic cylinder comprises a cylinder barrel and a piston rod, the cylinder barrel is in sliding connection with the piston rod, the top end of the piston rod is installed on the inner side of the hydraulic wing plate, the top end of the piston rod is hinged with the hydraulic wing plate, the bottom end of the cylinder barrel is hinged with a flange at the bottom of the pressure-resistant shell, and the cylinder barrel can rotate for a certain angle around a hinged point of the pressure-resistant shell.
3. The hydrofoil-regulated and powered marine robot of claim 1, wherein said hydraulic wing plates are cambered and form a complete cylinder when four hydraulic wing plates are closed.
4. The hydrofoil-regulated and powered marine robot of claim 1, further comprising a hydraulic system comprising four hydraulic modules, an oil storage bladder, a buoyancy bladder, a three-position three-way solenoid valve, an accumulator, a solenoid switch valve a, a solenoid switch valve B, an overflow valve, a check valve E, a filter, a two-way hydraulic pump, a motor, and hydraulic lines;
the four hydraulic modules have the same structure and connection relationship and are respectively used for controlling the four hydraulic cylinders; each hydraulic module comprises a one-way valve A, a one-way valve B, a one-way valve C, a one-way valve D, a hydraulic control one-way valve A, a hydraulic control one-way valve B and a three-position four-way servo valve;
the bidirectional hydraulic pump is fixedly connected with the motor; one end of the two-way hydraulic pump is connected with the overflow valve and is connected with the oil storage oil bag through a filter, the other end of the two-way hydraulic pump is connected with one oil port of the three-position three-way electromagnetic valve, the second oil port of the three-position three-way electromagnetic valve is connected with the buoyancy oil bag, and the third oil port of the three-position three-way electromagnetic valve is respectively connected with the three-position four-way servo valves of the four hydraulic modules and is connected with the energy accumulator through the electromagnetic switch valve A; working oil ports of three-position four-way servo valves of the four hydraulic modules are respectively connected with the four hydraulic cylinders through hydraulic control one-way valves A and B, and oil return ports of the three-position four-way servo valves of the four hydraulic modules are connected with an oil tank through a filter through check valves E; two oil ports of each hydraulic cylinder are also respectively connected with an electromagnetic switch valve A through a one-way valve B and a one-way valve C, and the electromagnetic switch valve A is connected with an energy accumulator; the oil storage oil bag is connected with two oil ports of each hydraulic cylinder through a one-way valve A and a one-way valve D after passing through an electromagnetic switch valve B.
5. The marine robot with hydrofoil regulation and power supply of claim 4, wherein the hydraulic system is installed inside the pressure-resistant shell except for the buoyancy oil bag, and the hydraulic control check valve A, the hydraulic control check valve B, the three-position four-way servo valve, the three-position three-way electromagnetic valve, the electromagnetic switch valve A, the electromagnetic switch valve B, the overflow valve, the check valve A, the check valve B, the check valve C, the check valve D, the check valve E, the filter, the two-way hydraulic pump, the motor and the hydraulic pipeline are integrally installed in the hydraulic buoyancy and hydraulic cylinder adjusting device.
6. The hydrofoil regulated and powered marine robot of claim 5 wherein the bottom of the hydraulic wings is longer than the bottom of the pressure hull when the four hydraulic wings are retracted and abutted against the pressure hull.
7. A working method of a marine robot with hydrofoil regulation and energy supply functions as claimed in claim 6, characterized in that during working, after the mother ship finishes laying the marine robot, the tasks of a wave energy storage stage, a quick submergence stage, a track adjustment stage, a horizontal displacement stage, a slow descent landing stage, a bottom sitting working stage and a floating stage can be executed, and the conversion among the stages is realized by adjusting the volume of the equipment and the opening and closing angle of a hydraulic wing plate;
the wave energy storage stage, when the marine robot submerges or emerges from the water surface, the marine robot enters a hovering state by adjusting the buoyancy oil bag, and enters the wave energy storage stage; the four hydraulic wing plates are completely opened to be horizontal and float on the surface of the ocean; under the action of waves, the four hydraulic wing plates swing up and down along with the fluctuation of the sea surface to drive a piston rod in the hydraulic cylinder to reciprocate, high-pressure oil in the hydraulic cylinder is conveyed to the energy accumulator, and pressure energy converted from ocean wave energy is stored;
in the rapid submergence stage, the four hydraulic wing plates are retracted and tightly abut against the pressure-resistant shell, so that the fluid resistance of the marine robot in the vertical direction is reduced; the hydraulic system enables the volume of the buoyancy oil bag to be reduced, so that the buoyancy force borne by the marine robot is reduced, and the marine robot rapidly dives under the action of gravity;
in the track adjusting stage and the horizontal shifting stage, the motion direction of the ocean robot and the opening and closing angle of a hydraulic wing plate are determined according to the target position to be reached by the ocean robot: when the marine robot works underwater, if the marine robot needs to move to the lower right, the control module sends a signal to reduce the volume of the buoyancy oil bag, reduce the net buoyancy of the equipment, submerge the equipment, simultaneously adjust the opening and closing angles of the hydraulic wing plates, increase the opening and closing angle of the hydraulic wing plate on the left side, induce fluid resistance to generate component force in the horizontal direction, push the marine robot to generate component speed in the horizontal direction, and enable the marine robot to reach an expected position; if the ocean robot is required to move towards different directions, only the net buoyancy of the equipment is required to be adjusted to enable the ocean robot to float upwards or submerge downwards, and the hydraulic wing plates are adjusted to corresponding angles; meanwhile, the buoyancy adjustment amount is increased, and the hydraulic wing plates are continuously fluttered, so that the jumping action of the marine robot in a marine vertical section is realized, and the horizontal displacement is carried out;
in the slow landing stage, the four hydraulic wing plates are completely opened, so that the fluid resistance is increased, the submerging speed is reduced, and the stable bottoming of the marine robot is realized;
in the bottom sitting working stage, the opening and closing angles of the four hydraulic wing plates are adjusted, so that the four hydraulic wing plates are in contact with the seabed to play a supporting role, at the moment, the bottom of the pressure-resistant shell is also in contact with the seabed, the bottom sitting posture of the marine robot is adjusted by controlling the opening and closing angles of the hydraulic wing plates, and when the ocean current impacts, the anti-overturning capacity of the marine robot can be improved by the supporting function of the hydraulic wing plates;
in the floating stage, the opening and closing angles of the four hydraulic wing plates are adjusted to enable the hydraulic wing plates to lean against the pressure-resistant shell, the lower parts of the hydraulic wing plates interact with the seabed to generate acting force for lifting the marine robot, and the marine robot is supported to be separated from seabed sediments; and then, the hydraulic wing plates are retracted and abut against the pressure-resistant shell, so that the fluid resistance of the marine robot in the vertical direction is reduced until the marine robot floats to the sea surface.
8. The working method of the marine robot with hydrofoil regulation and power supply functions as claimed in claim 7, wherein when the hydraulic wing plate is required to store wave energy, the motor stops rotating, the three-position three-way solenoid valve is located at the middle position, the three-position four-way servo valves of the four hydraulic modules are all located at the middle position, and the electromagnetic switch valve A and the electromagnetic switch valve B are located at the left position to connect an oil path; when the four hydraulic wing plates swing up and down, the piston rod moves back and forth left and right, and high-pressure hydraulic oil in a rod cavity and a rodless cavity of the hydraulic cylinder is squeezed into the energy accumulator through the one-way valve B and the one-way valve C, so that the energy accumulator is utilized to store pressure energy; at the moment, the hydraulic oil in the oil storage oil bag enters the hydraulic cylinder through the one-way valve A and the one-way valve D to supplement the hydraulic oil, and the hydraulic cylinder can continuously input high-pressure hydraulic oil into the energy accumulator; in the wave energy storage stage, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing in a small amplitude, the motor stops rotating, the three-position three-way electromagnetic valves of the four hydraulic modules are located at the middle position, the electromagnetic switch valve A is located at the right position to connect an oil path, the electromagnetic switch valve B is located at the right position to cut off the oil path, and the energy accumulator provides high-pressure hydraulic oil for the main oil path; if the three-position four-way servo valve is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and hydraulic oil in a rodless cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; if the three-position four-way servo valve is positioned at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, a piston rod moves rightwards, and hydraulic oil in a rod cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; in the process, the working conditions of the four hydraulic cylinders are the same;
when the hydraulic wing plate is required to swing greatly, the electromagnetic switch valve A and the electromagnetic switch valve B are both located at the right position to cut off an oil way, the three-position three-way electromagnetic valve is located at the right position, the motor drives the two-way hydraulic pump to rotate in the forward direction, hydraulic oil in the oil storage oil bag enters the two-way hydraulic pump through the filter, if the three-position four-way servo valve is located at the right position, high-pressure hydraulic oil enters a rodless cavity of the hydraulic cylinder, the piston moves rightwards, and hydraulic oil in a rod cavity of the hydraulic cylinder enters the oil storage oil bag through the one-way valve E and the filter; if the three-position four-way servo valve is positioned at the left position, high-pressure hydraulic oil enters a rod cavity of the hydraulic cylinder, a piston rod moves leftwards, and hydraulic oil in a rodless cavity of the hydraulic cylinder enters an oil storage oil bag through a one-way valve E and a filter; in the process, the working conditions of the four hydraulic cylinders are the same;
when the marine robot is required to realize the floating motion, the three-position three-way electromagnetic valve is arranged at the left position, the motor drives the two-way hydraulic pump to rotate positively, hydraulic oil enters the buoyancy oil bag from the oil storage oil bag, the drainage volume of the marine robot is increased, and the floating motion is realized;
when the marine robot is required to realize the diving movement, the three-position three-way electromagnetic valve is arranged at the left position, the motor drives the two-way hydraulic pump to rotate reversely, hydraulic oil enters the force storage oil bag from the buoyancy oil bag, the drainage volume of the marine robot is reduced, and the diving movement is realized.
9. The method of claim 8, wherein the small swing is an angular change of less than 60 ° and the large swing is an angular change of greater than or equal to 60 °.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116424529A (en) * | 2023-06-13 | 2023-07-14 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116443225A (en) * | 2023-06-15 | 2023-07-18 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle capable of standing at bottom and control method thereof |
| CN116495150A (en) * | 2023-06-16 | 2023-07-28 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
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2022
- 2022-11-03 CN CN202211367929.9A patent/CN115535148A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116424529A (en) * | 2023-06-13 | 2023-07-14 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116424529B (en) * | 2023-06-13 | 2023-09-05 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle and control method thereof |
| CN116443225A (en) * | 2023-06-15 | 2023-07-18 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle capable of standing at bottom and control method thereof |
| CN116443225B (en) * | 2023-06-15 | 2023-09-05 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle capable of standing at bottom and control method thereof |
| CN116495150A (en) * | 2023-06-16 | 2023-07-28 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
| CN116495150B (en) * | 2023-06-16 | 2023-09-19 | 青岛哈尔滨工程大学创新发展中心 | Underwater submarine vehicle with foldable wing mechanism |
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