CN205059972U - But buoyancy adjustment of glider under water mechanism of accurate control - Google Patents
But buoyancy adjustment of glider under water mechanism of accurate control Download PDFInfo
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- CN205059972U CN205059972U CN201520537242.4U CN201520537242U CN205059972U CN 205059972 U CN205059972 U CN 205059972U CN 201520537242 U CN201520537242 U CN 201520537242U CN 205059972 U CN205059972 U CN 205059972U
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Abstract
The utility model discloses a but buoyancy adjustment of glider under water mechanism of accurate control, the integral type hydro -cylinder includes the hydro -cylinder wall and the end cover of glider under water, the hydro -cylinder pars intramuralis be equipped with reciprocating motion the piston and with piston rigidly connected's piston rod, the piston rod right -hand member is connected with displacement sensor through the telescopic stay cord, displacement sensor fixes in the fixed plate left side and lies in centre of a circle position, be in same straight line with the piston rod, integral type hydro -cylinder left side and external directly intercommunication, the right side is passed through the screw thread and is connected with pressure hull, and seal up in dry environment with O type circle slot combination O type circle. The utility model discloses an use the mode of displacement sensor measurement piston displacement, measure the volume of oily bag suction fluid. This measurement mode precision is high, can accurately adjust the size of glider net buoyancy under water, adopted the switching -over valve that changes the oil circuit direction, the overflow valve of protection oil circuit and the ooff valve that the zero was revealed, realized that switching, break -make and the zero of oil circuit is revealed.
Description
Technical field
The utility model relates to a kind of buoyancy adjustment structure, specifically, is a kind of buoyancy regulating mechanism of underwater glider that can accurately control.
Background technology
Underwater glider, as a kind of novel under-water robot, realizes floating in water and dive campaign by means of changing self net buoyancy instead of propelling unit.The hydraulic efficiency pressure system that the many employings of buoyancy regulating device of existing aerodone are open, and use traffic meter or the mode of measuring flexible diaphragm displacement measure its volume changed, which survey precision is low, is unfavorable for the accurate control realizing underwater glider.
Utility model content
For solving the problem, the utility model provides a kind of buoyancy regulating mechanism of underwater glider that can accurately control.
The purpose of this utility model is achieved through the following technical solutions: a kind of buoyancy regulating mechanism of underwater glider that can accurately control, comprise integral type oil cylinder, hydraulic oil pump, motor, coupler, oil sac, displacement pickup, adapter plate and hydraulic valve block, described integral type oil cylinder comprises the end cap of cylinder wall and underwater glider, cylinder wall inside is provided with reciprocating piston and the piston rod with piston rigid connection, piston rod right-hand member is connected with displacement pickup by telescopic stay cord, displacement pickup to be fixed on the left of adapter plate and to be positioned at home position, same straight line is in piston rod, directly be communicated with the external world on the left of integral type oil cylinder, right side is connected with pressure shell by screw thread, and coordinate O type circle to be sealed in dry environment with O type ring recess, airtight immersion oil chamber is formed between piston and integral type oil cylinder, integral type oil cylinder is connected with oil pipe by attaching parts, hydraulic oil pump rigid connection is on the right side of adapter plate, its turning cylinder is connected with motor by coupler, and rotated by driven by motor, oil sac is arranged on the left side of adapter plate, the oil outlet of oil sac is towards the right side, be connected with hydraulic valve block by oil pipe, hydraulic oil pump is provided with oil pump oil inlet and oil pump oil outlet, hydraulic valve block comprises by pass valve, the electromagnetic valve of the switch valve of oil circuit control break-make and oil circuit control commutation, oil circuit comprises the first hydraulic fluid port, second hydraulic fluid port, 3rd hydraulic fluid port and the 4th hydraulic fluid port, first hydraulic fluid port is connected with oil sac joint by oil pipe, second hydraulic fluid port is connected with oil cylinder attaching parts by oil pipe, 3rd hydraulic fluid port is connected with oil pump oil inlet by oil pipe, 4th hydraulic fluid port is connected with oil pump oil outlet by oil pipe.
As preferably, between described external environment and integral type oil cylinder, be provided with dust-proof ring recess.
As preferably, junction first seal groove of described integral type oil cylinder and piston, there is the second seal groove the junction of described integral type oil cylinder and piston rod.
As preferably, described piston rod and the junction of pressure shell are provided with dust-proof ring recess.
As preferably, described integral type oil cylinder is provided with exhausr port and entry/exit hydraulic fluid port, described exhausr port is connected with exhausr port plug.
Compared with prior art, the utility model has the following advantages:
By using the mode of displacement sensor oil cylinder piston displacement, measure the volume of oil sac suction fluid.This metering system precision is high, can the size of fine adjustment underwater glider net buoyancy; Have employed the change-over valve, the by pass valve of protection oil circuit and the switch valve of zero leakage that change oil circuit direction, realize the switching of oil circuit, break-make and zero leakage.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of buoyancy regulating mechanism of underwater glider that can accurately control of the utility model embodiment;
Fig. 2 is the structural representation of hydraulic valve block in the utility model embodiment.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is described in detail.Following examples will contribute to those skilled in the art and understand the utility model further, but not limit the utility model in any form.It should be pointed out that to those skilled in the art, without departing from the concept of the premise utility, some distortion and improvement can also be made.These all belong to protection domain of the present utility model.
As shown in Figure 1, the utility model embodiment provides a kind of buoyancy regulating mechanism of underwater glider that can accurately control, comprise integral type oil cylinder 1, hydraulic oil pump 16, motor 15, coupler 26, oil sac 14, displacement pickup 17, adapter plate 24 and hydraulic valve block 27, described integral type oil cylinder 1 comprises the end cap 23 of cylinder wall and underwater glider, cylinder wall inside is provided with reciprocating piston 2 and the piston rod 3 with piston 2 rigid connection, piston rod 3 right-hand member is connected with displacement pickup 17 by telescopic stay cord 18, displacement pickup 17 to be fixed on the left of adapter plate 24 and to be positioned at home position, same straight line is in piston rod 3, directly be communicated with extraneous 12 on the left of integral type oil cylinder 1, right side is connected with pressure shell by screw thread 25, and coordinate O type circle to be sealed in dry environment with O type ring recess 20, airtight immersion oil chamber 13 is formed between piston 2 and integral type oil cylinder 1, integral type oil cylinder 1 is connected with oil pipe by attaching parts 11, hydraulic oil pump 16 rigid connection is on the right side of adapter plate 24, its turning cylinder is connected with motor 15 by coupler 26, and by motor 15 driven rotary, oil sac 14 is arranged on the left side of adapter plate 24, the oil outlet 19 of oil sac 14 is towards the right side, be connected with hydraulic valve block 27 by oil pipe, hydraulic oil pump 16 is provided with oil pump oil inlet 21 and oil pump oil outlet 22, hydraulic valve block 27 comprises by pass valve 28, the electromagnetic valve 30 of the switch valve 29 of oil circuit control break-make and oil circuit control commutation, 31, oil circuit comprises the first hydraulic fluid port 32, second hydraulic fluid port 33, 3rd hydraulic fluid port 34 and the 4th hydraulic fluid port 35, first hydraulic fluid port 32 is connected with oil sac joint by oil pipe, second hydraulic fluid port 33 is connected with oil cylinder attaching parts 11 by oil pipe, 3rd hydraulic fluid port 34 is connected with oil pump oil inlet 21 by oil pipe, 4th hydraulic fluid port 35 is connected with oil pump oil outlet 22 by oil pipe.
Dust-proof ring recess 4 is provided with between described external environment 12 and integral type oil cylinder 1.
Described integral type oil cylinder 1 and junction first seal groove 5 of piston 2, described integral type oil cylinder 1 has the second seal groove 6 with the junction of piston rod 3.
Described piston rod 3 is provided with dust-proof ring recess 7 with the junction of pressure shell.
Described integral type oil cylinder 1 is provided with exhausr port 8 and entry/exit hydraulic fluid port 9, and described exhausr port 8 is connected with exhausr port plug 10.
This is specifically implemented when underwater glider floats from a certain degree of depth, electromagnetic valve 29 and electromagnetic valve 30 are opened, motor 15 is with and is driven oil pump 16 to rotate by coupler 26, fluid flows out from oil sac 14, flow through hydraulic valve block 27 and flow into oil cylinder immersion oil chamber 13 with hydraulic oil pump 16, promote piston 2 to be moved to the left, and drive piston rod 3 to be moved to the left.Oil cylinder displacement of volume becomes large thereupon, and the net buoyancy of underwater glider increases, and when heavy mass conservation, buoyancy is greater than gravity thus realizes floating.After underwater glider reaches a certain stabilized conditions, motor 15 shuts down, and Simultaneous Switching valve 29 and electromagnetic valve 30 are closed.The distance of piston rod 3 movement accurately can be measured by telescopic stay cord 18 by displacement pickup 17, and because piston surface area is known, the volume that buoyancy regulating system changes can be multiplied by piston miles of relative movement by piston surface area and calculate.
When underwater glider is from a certain degree of depth during dive, switch valve 29 and electromagnetic valve 31 are opened, motor 15 is with and is driven hydraulic oil pump 16 to rotate by coupler 26, fluid flows out from oil cylinder immersion oil chamber 13, flow through hydraulic valve block 27 and flow into oil sac 14 with hydraulic oil pump 16, immersion oil chamber 13 inner fluid of oil cylinder reduces and forms vacuum, promotes piston 2 and moves right, and drive piston rod 3 to move right.Oil cylinder displacement of volume diminishes thereupon, and the net buoyancy of underwater glider reduces, and when heavy mass conservation, buoyancy is less than gravity thus realizes dive.After underwater glider reaches a certain stabilized conditions, motor 15 shuts down, and Simultaneous Switching valve 29 and electromagnetic valve 31 are closed.The distance of piston rod movement accurately can be measured by telescopic stay cord 18 by displacement pickup 17, and because piston surface area is known, the volume that buoyancy regulating system changes can be multiplied by piston miles of relative movement by piston surface area and calculate.
When piston 2 be in spacing state or oil sac 14 be in saturation conditions cannot oil-feed time, by pass valve 28 is started working, and makes fluid get back to hydraulic valve block oil inlet to protect oil circuit from oil pump oil outlet 22.Because hydraulic oil pump 16 and reversing solenoid valve 30,31 exist spillage to a certain degree, the break-make controlling zero leakage switch valve 29 can make whole hydraulic efficiency pressure system run under enclosed environment, guarantees the stability of system.
This concrete mode implemented by using the displacement of displacement sensor oil cylinder piston, measures the volume of oil sac suction fluid.This metering system precision is high, can the size of fine adjustment underwater glider net buoyancy; Have employed the change-over valve, the by pass valve of protection oil circuit and the switch valve of zero leakage that change oil circuit direction, realize the switching of oil circuit, break-make and zero leakage.
Above specific embodiment of the utility model is described.It is to be appreciated that the utility model is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present utility model.
Claims (5)
1. the buoyancy regulating mechanism of underwater glider that can accurately control, it is characterized in that, comprise integral type oil cylinder (1), hydraulic oil pump (16), motor (15), coupler (26), oil sac (14), displacement pickup (17), adapter plate (24) and hydraulic valve block (27), described integral type oil cylinder (1) comprises the end cap (23) of cylinder wall and underwater glider, cylinder wall inside is provided with reciprocating piston (2) and the piston rod (3) with piston (2) rigid connection, piston rod (3) right-hand member is connected with displacement pickup (17) by telescopic stay cord (18), displacement pickup (17) is fixed on adapter plate (24) left side and is positioned at home position, same straight line is in piston rod (3), integral type oil cylinder (1) left side is directly communicated with external environment (12), right side is connected with pressure shell by screw thread (25), and coordinate O type circle to be sealed in dry environment with O type ring recess (20), airtight immersion oil chamber (13) is formed between piston (2) and integral type oil cylinder (1), integral type oil cylinder (1) is connected with oil pipe by attaching parts (11), hydraulic oil pump (16) rigid connection is on adapter plate (24) right side, its turning cylinder is connected with motor (15) by coupler (26), and by motor (15) driven rotary, oil sac (14) is arranged on the left side of adapter plate (24), the oil outlet (19) of oil sac (14) is towards the right side, be connected with hydraulic valve block (27) by oil pipe, hydraulic oil pump (16) is provided with oil pump oil inlet (21) and oil pump oil outlet (22), hydraulic valve block (27) comprises by pass valve (28), the electromagnetic valve (30 of the switch valve (29) of oil circuit control break-make and oil circuit control commutation, 31), oil circuit comprises the first hydraulic fluid port (32), second hydraulic fluid port (33), 3rd hydraulic fluid port (34) and the 4th hydraulic fluid port (35), first hydraulic fluid port (32) is connected with oil sac joint by oil pipe, second hydraulic fluid port (33) is connected with oil cylinder attaching parts (11) by oil pipe, 3rd hydraulic fluid port (34) is connected with oil pump oil inlet (21) by oil pipe, 4th hydraulic fluid port (35) is connected with oil pump oil outlet (22) by oil pipe.
2. a kind of buoyancy regulating mechanism of underwater glider that can accurately control according to claim 1, is characterized in that, is provided with dust-proof ring recess (4) between described integral type oil cylinder (1) and external environment (12).
3. a kind of buoyancy regulating mechanism of underwater glider that can accurately control according to claim 1, it is characterized in that, the junction first seal groove (5) of described integral type oil cylinder (1) and piston (2), described integral type oil cylinder (1) has the second seal groove (6) with the junction of piston rod (3).
4. a kind of buoyancy regulating mechanism of underwater glider that can accurately control according to claim 1, is characterized in that, described piston rod (3) is provided with dust-proof ring recess (7) with the junction of pressure shell.
5. a kind of buoyancy regulating mechanism of underwater glider that can accurately control according to claim 1, it is characterized in that, described integral type oil cylinder (1) is provided with exhausr port (8) and entry/exit hydraulic fluid port (9), described exhausr port (8) is connected with exhausr port plug (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520537242.4U CN205059972U (en) | 2015-07-22 | 2015-07-22 | But buoyancy adjustment of glider under water mechanism of accurate control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520537242.4U CN205059972U (en) | 2015-07-22 | 2015-07-22 | But buoyancy adjustment of glider under water mechanism of accurate control |
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| CN205059972U true CN205059972U (en) | 2016-03-02 |
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| CN201520537242.4U Expired - Fee Related CN205059972U (en) | 2015-07-22 | 2015-07-22 | But buoyancy adjustment of glider under water mechanism of accurate control |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836082A (en) * | 2016-03-18 | 2016-08-10 | 浙江海洋学院 | Motion posture control device for underwater glider |
| CN105857554A (en) * | 2016-03-25 | 2016-08-17 | 中国海洋大学 | Underwater vehicle buoyancy measuring method |
| 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 |
| CN106114769A (en) * | 2016-07-06 | 2016-11-16 | 湖北泰和电气有限公司 | Ocean buoyancy detection actuator |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| CN106628078A (en) * | 2016-12-31 | 2017-05-10 | 天津深之蓝海洋设备科技有限公司 | Buoyancy regulating device used for deep-sea underwater glider |
| CN107963194A (en) * | 2016-10-20 | 2018-04-27 | 北京精密机电控制设备研究所 | A kind of complete electric buoyancy regulating device |
| CN108609144A (en) * | 2018-05-08 | 2018-10-02 | 国家海洋技术中心 | Km grade underwater glider floatage adjusts pumping system |
| RU2668937C1 (en) * | 2017-10-17 | 2018-10-04 | Федеральное государственное бюджетное научное учреждение "Институт природно-технических систем" (ИПТС) | Device for changing buoyancy of an underwater vehicle |
| CN110667808A (en) * | 2019-09-26 | 2020-01-10 | 西安智荣机电科技有限公司 | Buoyancy adjusting device and method |
| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjusting device of underwater robot |
| CN114455041A (en) * | 2022-02-22 | 2022-05-10 | 杭州大祉机电有限公司 | Precise control type buoyancy adjusting device |
-
2015
- 2015-07-22 CN CN201520537242.4U patent/CN205059972U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836082A (en) * | 2016-03-18 | 2016-08-10 | 浙江海洋学院 | Motion posture control device for underwater glider |
| CN105857554A (en) * | 2016-03-25 | 2016-08-17 | 中国海洋大学 | Underwater vehicle buoyancy measuring method |
| 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 |
| CN106114769A (en) * | 2016-07-06 | 2016-11-16 | 湖北泰和电气有限公司 | Ocean buoyancy detection actuator |
| CN107963194A (en) * | 2016-10-20 | 2018-04-27 | 北京精密机电控制设备研究所 | A kind of complete electric buoyancy regulating device |
| CN106428487A (en) * | 2016-11-19 | 2017-02-22 | 浙江大学 | Sea depth high pressure sea water sampler independent buoyancy control equipment |
| CN106628078B (en) * | 2016-12-31 | 2018-02-09 | 天津深之蓝海洋设备科技有限公司 | Buoyancy regulating device for deep-sea underwater glider |
| CN106628078A (en) * | 2016-12-31 | 2017-05-10 | 天津深之蓝海洋设备科技有限公司 | Buoyancy regulating device used for deep-sea underwater glider |
| RU2668937C1 (en) * | 2017-10-17 | 2018-10-04 | Федеральное государственное бюджетное научное учреждение "Институт природно-технических систем" (ИПТС) | Device for changing buoyancy of an underwater vehicle |
| CN108609144A (en) * | 2018-05-08 | 2018-10-02 | 国家海洋技术中心 | Km grade underwater glider floatage adjusts pumping system |
| CN110667808A (en) * | 2019-09-26 | 2020-01-10 | 西安智荣机电科技有限公司 | Buoyancy adjusting device and method |
| CN111252222A (en) * | 2020-02-27 | 2020-06-09 | 中国科学院自动化研究所 | Bidirectional buoyancy adjusting device of underwater robot |
| CN114455041A (en) * | 2022-02-22 | 2022-05-10 | 杭州大祉机电有限公司 | Precise control type buoyancy adjusting device |
| CN114455041B (en) * | 2022-02-22 | 2022-09-06 | 杭州大祉机电有限公司 | Precise control type buoyancy adjusting device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20180722 |
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| CF01 | Termination of patent right due to non-payment of annual fee |