CN200951828Y - Floatage control apparatus of underwater glider - Google Patents
Floatage control apparatus of underwater glider Download PDFInfo
- Publication number
- CN200951828Y CN200951828Y CN 200620107881 CN200620107881U CN200951828Y CN 200951828 Y CN200951828 Y CN 200951828Y CN 200620107881 CN200620107881 CN 200620107881 CN 200620107881 U CN200620107881 U CN 200620107881U CN 200951828 Y CN200951828 Y CN 200951828Y
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- Prior art keywords
- oil
- underwater glider
- cavity
- miniature
- pressure
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- 238000011161 development Methods 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 210000000476 body water Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The utility model relates to a buoyancy control device of underwater glider. The buoyancy control portion of conventional underwater glider mainly includes a step motor to drive a hydraulic cylinder to make reciprocal movement so as to suck oil into or discharge oil from the oil bath, which blocks the development of the underwater glider in the deep sea. The utility model comprises a miniature high-pressure pump, a miniature solenoid valve, a miniature one-way valve, and an oil cavity arranged inside a pressure-bearing housing, and an oil bath arranged outside the pressure-bearing housing. The oil cavity comprises a cavity body, a piston arranged in the cavity body and firmly and movably connected with the cavity body, and two linear potentiometers arranged on the piston. The oil cavity, the miniature high-pressure pump, the miniature one-way valve, the miniature solenoid valve and the oil bath construct a loop. The utility model can accurately adjust the magnitude of buoyancy as required without being affected by the inclined attitude of the underwater glider. Accordingly, the underwater glider can navigate along a predetermined track, thereby achieving the development of the underwater glider in the deep sea.
Description
Technical field
The utility model relates to a kind of control setup, particularly relates 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
The purpose of this utility model 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 utility model 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 utility model 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 utility model;
Fig. 2 is a hydraulic schematic diagram of the present utility model.
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, a kind of 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 |
|---|---|---|---|
| CN 200620107881 CN200951828Y (en) | 2006-09-21 | 2006-09-21 | Floatage control apparatus of underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620107881 CN200951828Y (en) | 2006-09-21 | 2006-09-21 | Floatage control apparatus of underwater glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200951828Y true CN200951828Y (en) | 2007-09-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620107881 Expired - Lifetime CN200951828Y (en) | 2006-09-21 | 2006-09-21 | Floatage control apparatus of underwater glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200951828Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN102079374A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
| CN102975832A (en) * | 2012-12-03 | 2013-03-20 | 中国船舶重工集团公司第七一○研究所 | Self-adjustable variable buoyancy underwater platform |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
| CN103425082A (en) * | 2013-08-28 | 2013-12-04 | 北京理工大学 | Control system for airbag type underwater depthkeeping suspension device |
| CN103452832A (en) * | 2013-04-19 | 2013-12-18 | 天津深之蓝海洋设备科技有限公司 | Buoyancy pump with flexible flanged plunger |
| CN104670444A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | One-way buoyancy regulation device used for autonomous underwater vehicle |
| CN104828222A (en) * | 2015-04-16 | 2015-08-12 | 浙江大学 | Piston-type buoyancy adjusting device |
| CN105298946A (en) * | 2015-11-20 | 2016-02-03 | 沈阳航天新光集团有限公司 | Buoyancy adjusting device |
| CN104670439B (en) * | 2013-11-27 | 2017-02-08 | 中国科学院沈阳自动化研究所 | Buoyancy adjusting method for AUV |
| CN106628077A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN107891957A (en) * | 2017-10-27 | 2018-04-10 | 北京精密机电控制设备研究所 | A kind of centre of buoyancy center of gravity regulation and buoyancy regulating device for submersible |
-
2006
- 2006-09-21 CN CN 200620107881 patent/CN200951828Y/en not_active Expired - Lifetime
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079374A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
| CN102079375B (en) * | 2009-11-27 | 2013-11-06 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN102079374B (en) * | 2009-11-27 | 2013-11-13 | 中国科学院沈阳自动化研究所 | Automatic oil return type buoyancy regulating device for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| CN102975835B (en) * | 2012-12-03 | 2015-12-09 | 哈尔滨工程大学 | Seawater piston adjustable type gliding type submersible |
| CN102975832A (en) * | 2012-12-03 | 2013-03-20 | 中国船舶重工集团公司第七一○研究所 | Self-adjustable variable buoyancy underwater platform |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
| CN102975832B (en) * | 2012-12-03 | 2015-03-18 | 中国船舶重工集团公司第七一○研究所 | Self-adjustable variable buoyancy underwater platform |
| CN103452832A (en) * | 2013-04-19 | 2013-12-18 | 天津深之蓝海洋设备科技有限公司 | Buoyancy pump with flexible flanged plunger |
| CN103452832B (en) * | 2013-04-19 | 2015-11-25 | 天津深之蓝海洋设备科技有限公司 | Flexible curled-edge plunger buoyancy pump |
| CN103425082A (en) * | 2013-08-28 | 2013-12-04 | 北京理工大学 | Control system for airbag type underwater depthkeeping suspension device |
| CN103425082B (en) * | 2013-08-28 | 2016-02-17 | 北京理工大学 | A kind of control system for gasbag-type underwater fixed depth levitation device |
| CN104670439B (en) * | 2013-11-27 | 2017-02-08 | 中国科学院沈阳自动化研究所 | Buoyancy adjusting method for AUV |
| CN104670444A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | One-way buoyancy regulation device used for autonomous underwater vehicle |
| CN104670444B (en) * | 2013-11-30 | 2017-03-15 | 中国科学院沈阳自动化研究所 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
| CN104828222A (en) * | 2015-04-16 | 2015-08-12 | 浙江大学 | Piston-type buoyancy adjusting device |
| CN106628077A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle |
| CN105298946A (en) * | 2015-11-20 | 2016-02-03 | 沈阳航天新光集团有限公司 | Buoyancy adjusting device |
| CN107310705A (en) * | 2017-06-21 | 2017-11-03 | 桂林电子科技大学 | A kind of underwater robot of imitative coelacanth |
| CN107891957A (en) * | 2017-10-27 | 2018-04-10 | 北京精密机电控制设备研究所 | A kind of centre of buoyancy center of gravity regulation and buoyancy regulating device for submersible |
| CN107891957B (en) * | 2017-10-27 | 2019-07-12 | 北京精密机电控制设备研究所 | A kind of centre of buoyancy for submersible-center of gravity adjusts and buoyancy regulating device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20060921 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |