CN1923614A - Underwater glider floatage control device - Google Patents
Underwater glider floatage control device Download PDFInfo
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- CN1923614A CN1923614A CN 200610053498 CN200610053498A CN1923614A CN 1923614 A CN1923614 A CN 1923614A CN 200610053498 CN200610053498 CN 200610053498 CN 200610053498 A CN200610053498 A CN 200610053498A CN 1923614 A CN1923614 A CN 1923614A
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- underwater glider
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Abstract
This invention relates to the buoyancy control device of an underwater glider. Most of the current underwater buoyancy control for gliders utilizes the alternative movement of the piston of the hydraulic cylinder anchored by the stepper motor, so as to control the inlet and charge of oil from the oil bag and therefore make it rather difficult to expand its application in deep sea. This invention comprises of those miniature high pressure pump, miniature electromagnetic valve, miniature single direction valve and oil cavity that located inside the pressure bearing housing, and also an oil bag that located outside of the pressure bearing housing. The oil recess comprises of a cavity, inside which a piston is equipped and linked with it closely for motion with two linear potentiometers on the piston. A loop is formed by the oil recess, miniature high pressure pump, miniature single direction valve, miniature electromagnetic valve and an oil bag. Without the interference of the inclining status of the body, it can control the change of the buoyancy force, so as to make the underwater glider sail along the planned route and therefore realize the progress of underwater glider's sailing toward the deep sea.
Description
Technical field
The present invention relates to a kind of control setup, particularly relate to a kind of floatage control device that can be widely used in the underwater glider of water quality monitoring, the exploration of water-bed resource, environmental monitoring.
Background technology
Be used for the propulsion modes such as the most of employing of autodetector screw propeller of ocean water body water quality monitoring, the exploration of water-bed resource, environmental monitoring research at present, so after the short time work, all need to replenish power source.Frequent charging procedure has greatly limited the distance and the degree of depth of navigating by water in the detector ocean.And utilize the underwater glider of buoyancy as propulsion source, its buoyancy control major part all is that the employing stepping motor drives the piston reciprocates in the hydraulic actuating cylinder, thereby makes the fluid inspiration in the cylinder or discharge oil sac.Limited by the power of stepping motor and the performance condition of hydraulic actuating cylinder, the working depth of underwater glider has only tens of rice, is difficult to develop to the deep-sea.
Summary of the invention
Purpose of the present invention is exactly at the deficiencies in the prior art, but proposes a kind of floatage control device that is suitable for the accuracy control flowrate variation of underwater glider.
The floatage control device of underwater glider of the present invention comprises and is arranged on pressure-bearing shell in-to-in minitype high voltage pump, small electrical magnet valve, baby check valve, oil pocket and is arranged on the exterior oil sac of pressure-bearing shell.The junction of oil sac and pressure-bearing shell seals by seal ring.Oil pocket comprises cavity, piston be arranged in the cavity and with the cavity flexible connection that closely cooperates, piston top is provided with two linear potentiometers, the backguy of linear potentiometer is connected with piston.Oil pocket and oil sac are communicated with by in-line and oil return line respectively, and in-line comprises pipeline, minitype high voltage pump and baby check valve, and oil return line comprises pipeline and small electrical magnet valve.Oil pocket, minitype high voltage pump, baby check valve, small electrical magnet valve and oil sac constitute the loop.
The stream floatage control device of underwater glider of the present invention can satisfy the deep-sea sink-float of underwater glider, and the replacing of hydraulic pressure components and parts, maintenance are more convenient.And the variation size of accuracy control buoyancy is not subjected to the influence of the lateral attitude of fuselage as required, thereby, make underwater glider accurately to navigate by water according to desired trajectory, realize the development of underwater glider to the deep-sea.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a hydraulic schematic diagram of the present invention.
The specific embodiment
As depicted in figs. 1 and 2, the floatage control device of underwater glider comprises minitype high voltage pump 4, small electrical magnet valve 6, baby check valve 5, oil pocket 9 and oil sac 1.Minitype high voltage pump 4, small electrical magnet valve 6, baby check valve 5 and oil pocket 9 are arranged on the inside of pressure-bearing shell 3; Oil sac 9 is arranged on the outside of pressure-bearing shell 3, the direct and contact with sea water in surface.Oil sac 1 adopts 2 sealings of zero shape circle with the junction of pressure-bearing shell 3.Oil pocket 9 is made up of cavity 7, piston 8 and two linear potentiometers 10.Oil pocket 9 and oil sac are formed the loop by minitype high voltage pump 4 and baby check valve 5, are communicated with by small electrical magnet valve 6 simultaneously.The effect of baby check valve 5 is to prevent that the fluid in the loop is back to oil pocket 9 through minitype high voltage pump 4.Oil pocket 9, minitype high voltage pump 4, baby check valve 5, small electrical magnet valve 6 and oil sac 1 are formed the loop.
When underwater glider was prepared come-up, minitype high voltage pump 4 was started working, and oil flows into oil sac 1 from oil pocket 9 via baby check valve 5.Along with the fluid volume in the oil pocket 9 constantly reduces, piston 8 moves to the bottom gradually, and the backguy of two linear potentiometers 10 is constantly profound, and the voltage signal of output constantly increases.When main control computer recorded voltage signal and reaches designated value, minitype high voltage pump 4 quit work.At this moment, buoyancy is greater than gravity, and underwater glider begins come-up according to the speed of appointment.
When the underwater glider rig ship for dive, small electrical magnet valve 6 is opened, and under effect, oil flows back to oil pocket 9 from oil sac at inside and outside differential pressure.Along with the fluid in the oil pocket 9 is on the increase, piston 8 is gradually away from the bottom, and the backguy of two linear potentiometers 10 is constantly shortened, and the voltage signal values of output constantly reduces.When main control computer recorded voltage signal and reaches designated value, small electrical magnet valve 6 was closed.At this moment, gravity is greater than buoyancy, and underwater glider begins to begin dive with the speed of appointment.
In the course of the work, underwater glider can be opened minitype high voltage pump 4 or small electrical magnet valve 6 according to need of work, regulates the buoyancy size; Feed back the regulated value of buoyancy in real time by the voltage signal of linear potentiometer 10 outputs.
Claims (1)
1, underwater glider floatage control device, comprise and be arranged on pressure-bearing shell in-to-in minitype high voltage pump (4), baby check valve (5), small electrical magnet valve (6), oil pocket (9) and be arranged on the exterior oil sac of pressure-bearing shell (3) (1), oil sac (1) seals by seal ring (2) with pressure-bearing shell (3), it is characterized in that oil pocket (9) comprises cavity (7), piston (8) be arranged in the cavity (7) and with cavity (7) flexible connection that closely cooperates, piston (8) top is provided with two linear potentiometers (10), and the backguy of linear potentiometer (10) is connected with piston (8); Oil pocket (9) and oil sac (1) are communicated with by in-line and oil return line respectively, and in-line comprises pipeline, minitype high voltage pump (4) and baby check valve (5), and oil return line comprises pipeline and small electrical magnet valve (6); Oil pocket (9), minitype high voltage pump (4), baby check valve (5), small electrical magnet valve (6) and oil sac (1) constitute the loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100534983A CN100482533C (en) | 2006-09-21 | 2006-09-21 | Underwater glider floatage control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100534983A CN100482533C (en) | 2006-09-21 | 2006-09-21 | Underwater glider floatage control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1923614A true CN1923614A (en) | 2007-03-07 |
| CN100482533C CN100482533C (en) | 2009-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100534983A Expired - Fee Related CN100482533C (en) | 2006-09-21 | 2006-09-21 | Underwater glider floatage control device |
Country Status (1)
| Country | Link |
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| CN (1) | CN100482533C (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN101879377A (en) * | 2010-07-05 | 2010-11-10 | 台山市昌辉玩具制品有限公司 | Underwater glider toy |
| CN101337578B (en) * | 2008-08-27 | 2010-12-01 | 哈尔滨工程大学 | Underwater robot adjusted by three oil-bags and depth-setting control method thereof |
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN102180243A (en) * | 2011-04-13 | 2011-09-14 | 浙江大学 | Driving device for buoyancy regulating mechanism of underwater glider |
| CN102248992A (en) * | 2011-05-13 | 2011-11-23 | 浙江大学 | Buoyancy adjusting device for underwater glider |
| CN102367063A (en) * | 2011-08-24 | 2012-03-07 | 天津大学 | Bellow fuel tank |
| CN102501955A (en) * | 2011-08-24 | 2012-06-20 | 天津大学 | Buoyancy driving device of deep-sea underwater glider |
| CN103803046A (en) * | 2012-11-07 | 2014-05-21 | 中国舰船研究设计中心 | Temperature difference energy and solar energy hybrid power propulsion system for underwater glider |
| CN104229105A (en) * | 2014-09-18 | 2014-12-24 | 青岛远创机器人自动化有限公司 | Underwater glider buoyancy driving device |
| CN106043635A (en) * | 2016-06-24 | 2016-10-26 | 天津深之蓝海洋设备科技有限公司 | Rapid buoyancy adjusting device of underwater glider |
| CN106218841A (en) * | 2016-07-29 | 2016-12-14 | 中国海洋大学 | A kind of water hydraulic buoyancy regulating device and method |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| WO2017092167A1 (en) * | 2015-12-04 | 2017-06-08 | 深圳市易特科信息技术有限公司 | Rescue diving apparatus and method for use in maritime rescue |
| CN108016589A (en) * | 2017-11-21 | 2018-05-11 | 中国舰船研究设计中心 | A kind of underwater robot Aeroassisted pumping oil formula buoyancy regulating device |
| CN111891322A (en) * | 2020-08-12 | 2020-11-06 | 北京蔚海明祥科技有限公司 | Buoyancy adjusting device |
-
2006
- 2006-09-21 CN CNB2006100534983A patent/CN100482533C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337578B (en) * | 2008-08-27 | 2010-12-01 | 哈尔滨工程大学 | Underwater robot adjusted by three oil-bags and depth-setting control method thereof |
| CN102079373A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Low-power control system for underwater glider and control method thereof |
| CN101870351B (en) * | 2010-06-21 | 2012-07-11 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN101879377A (en) * | 2010-07-05 | 2010-11-10 | 台山市昌辉玩具制品有限公司 | Underwater glider toy |
| CN101879377B (en) * | 2010-07-05 | 2012-07-25 | 台山市昌辉玩具制品有限公司 | Underwater glider toy |
| CN102180243A (en) * | 2011-04-13 | 2011-09-14 | 浙江大学 | Driving device for buoyancy regulating mechanism of underwater glider |
| CN102248992B (en) * | 2011-05-13 | 2013-05-15 | 浙江大学 | Buoyancy adjusting device for underwater glider |
| CN102248992A (en) * | 2011-05-13 | 2011-11-23 | 浙江大学 | Buoyancy adjusting device for underwater glider |
| CN102501955A (en) * | 2011-08-24 | 2012-06-20 | 天津大学 | Buoyancy driving device of deep-sea underwater glider |
| CN102367063A (en) * | 2011-08-24 | 2012-03-07 | 天津大学 | Bellow fuel tank |
| CN102367063B (en) * | 2011-08-24 | 2013-11-06 | 天津大学 | Bellow fuel tank |
| CN103803046A (en) * | 2012-11-07 | 2014-05-21 | 中国舰船研究设计中心 | Temperature difference energy and solar energy hybrid power propulsion system for underwater glider |
| CN104229105A (en) * | 2014-09-18 | 2014-12-24 | 青岛远创机器人自动化有限公司 | Underwater glider buoyancy driving device |
| WO2017092167A1 (en) * | 2015-12-04 | 2017-06-08 | 深圳市易特科信息技术有限公司 | Rescue diving apparatus and method for use in maritime rescue |
| CN106043635A (en) * | 2016-06-24 | 2016-10-26 | 天津深之蓝海洋设备科技有限公司 | Rapid buoyancy adjusting device of underwater glider |
| CN106218841A (en) * | 2016-07-29 | 2016-12-14 | 中国海洋大学 | A kind of water hydraulic buoyancy regulating device and method |
| CN106218841B (en) * | 2016-07-29 | 2018-01-30 | 中国海洋大学 | A kind of water hydraulic buoyancy regulating device and method |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| CN108016589A (en) * | 2017-11-21 | 2018-05-11 | 中国舰船研究设计中心 | A kind of underwater robot Aeroassisted pumping oil formula buoyancy regulating device |
| CN111891322A (en) * | 2020-08-12 | 2020-11-06 | 北京蔚海明祥科技有限公司 | Buoyancy adjusting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100482533C (en) | 2009-04-29 |
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| C06 | Publication | ||
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Granted publication date: 20090429 Termination date: 20120921 |