CN206218178U - A kind of device that drifts along under water for bionic machine - Google Patents
A kind of device that drifts along under water for bionic machine Download PDFInfo
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- CN206218178U CN206218178U CN201621191266.XU CN201621191266U CN206218178U CN 206218178 U CN206218178 U CN 206218178U CN 201621191266 U CN201621191266 U CN 201621191266U CN 206218178 U CN206218178 U CN 206218178U
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- water
- water pump
- bionic machine
- pressurized tank
- sink
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Abstract
The utility model provides a kind of device that drifts along under water for bionic machine, including sink-float controller, water pump box, pressurized tank, and water pump, valve body are provided with described water pump box；Water pocket is provided with described pressurized tank, is tightly connected between described water pocket and pressurized tank；Gas is sealed between described water pocket and pressurized tank；Described water pump, valve body are connected with sink-float controller；Described water pump is connected with water pocket by pipeline；Pipeline between described water pump and pressurized tank is provided with valve body；Described sink-float controller control water feeding of water pump, application valve body switch.By controlling the water pump of high-pressure high-flow, quickly punching discharges water the utility model, realizes that bionic machine floating upward quickly, quick dive and is suspended in the depth of setting in water, present apparatus fast response time, flexibility is good, and depth keeps stabilization, and designs ingenious, it is practical, it is easy to promote.
Description
Technical field
The utility model is related to the device that drifts along under water, and in particular to a kind of device that drifts along under water for bionic machine.
Background technology
Originally freely the system of rising and falling uses change position of centre of gravity method, and pectoral fin method to bionic machine in water.Center of gravity position
Put method:The principle for changing position of centre of gravity method is to equip one in bionic machine body to match somebody with somebody by regulation with the mass of activity
The position of weight, changes the position of centre of gravity of bionic machine, so as to change the incline direction of the whole body of bionic machine, Jin Ergai
Enter the direction of propulsive force, obtain the component perpendicular to the water surface, the floating and sunken caves of control biomimetics machine.When weight forward
Move, bionic machine centre of body weight is moved forward, human head is downward-sloping, downwards, bionic machine is made in this component in component direction
Dive campaign is realized under.Moved after bionic machine weight, moved after centre of body weight, head is lifted, component is upward, transportation by driving in realization
It is dynamic.This scheme changes the angle of pitch of bionic machine using the position of mass, changes the size and Orientation of lift.This scheme lack
Point is in response to speed slowly, and the activity space shared by mass is than larger.
Pectoral fin method：The principle of pectoral fin method is installed with a pair of symmetrical bionic machines of body axes in the anterior of bionic machine
Fin, equivalent to the wing of aircraft, bionic machine changes the appearance of pectoral fin by the motor in body to its principle during travelling
State, is decomposed on inclined bionic machine fin using the relative motion between body and fluid to propulsive force, obtain perpendicular to
Component on swimming direction, the size and Orientation of power is changed by the angle of inclination for changing pectoral fin.When pectoral fin diagonally downward when, point
Downwards, bionic machine realizes dive to power under downward component effect, and when pectoral fin leading portion is tilted upward, component upwards, is realized imitative
The floating motion of life device, does not produce point when the direction of pectoral fin is parallel with swimming direction and travelling speed of bionic machine is relatively low
Power or component are smaller, therefore the floating of bionic machine, fortune of sinking and suspend are can adjust by adjusting the luffing angle of pectoral fin
It is dynamic.The shortcoming of this method is inaccurate severity control, it is necessary to by higher speed of moving about forward, it is impossible to realize low speed or
Suspended motion under zero-speed.
Utility model content
The purpose of this utility model is the problem above for overcoming prior art to exist, there is provided a kind of for bionic machine
Drift along device under water, and the utility model fast response time, flexibility is good, and depth keeps stabilization, and can keep for a long time.
To realize above-mentioned technical purpose, above-mentioned technique effect is reached, the utility model is achieved through the following technical solutions：
A kind of device that drifts along under water for bionic machine, including sink-float controller, water pump box, pressurized tank, described water
Water pump, valve body are provided with pump cassette；Water pocket is provided with described pressurized tank, is tightly connected between described water pocket and pressurized tank；Institute
Gas is sealed between the water pocket and pressurized tank stated；Described water pump, valve body are connected with sink-float controller；Described water pump and water
Capsule is connected by pipeline；Pipeline between described water pump and pressurized tank is provided with valve body；Described sink-float controller control water
Pump water inlet, application valve body switch.
Further, the device that drifts along under water also includes depth detection unit, described depth detection unit, velocity measuring list
Unit is connected with sink-float controller, and depth detection unit detection depth information is simultaneously sent to sink-float controller, described velocity measuring
Unit detection speed information is simultaneously sent to sink-float controller.
Further, described valve body is electromagnetism check valve.
Further, the quantity of described pressurized tank is more than 2.
Further, the quantity of described valve body is the twice of the quantity of pressurized tank.
Further, described water pump box is additionally provided with flowmeter；Described flowmeter one end passes through pipeline and described water
Pump is connected, and the other end is connected by pipeline with extraneous waters；Described flowmeter is electrically connected with sink-float controller.
Further, a described valve body is on the pipeline between pressurized tank and extraneous waters.
Further, described water pump box is additionally provided with pressure sensor；Described pressure sensor is by sink-float controller control
System.
Further, the described device that drifts along under water is installed with skeleton, and described water pump box is installed and skeleton middle part.
Further, described sink-float controller is installed in water pump box.
The beneficial effects of the utility model are:The utility model provides a kind of device that drifts along under water for bionic machine,
Including sink-float controller, water pump box, pressurized tank, water pump, valve body are provided with described water pump box；Water is provided with described pressurized tank
Capsule, is tightly connected between described water pocket and pressurized tank；Gas is sealed between described water pocket and pressurized tank；Described water
Pump, valve body are connected with sink-float controller；Described water pump is connected with water pocket by pipeline；Between described water pump and pressurized tank
Pipeline is provided with valve body；Described sink-float controller control water feeding of water pump, application valve body switch.The utility model is high by controlling
Quickly punching discharges water to press the water pump of big flow, realizes that bionic machine floating upward quickly, quick dive and is suspended in the depth of setting in water
Degree, present apparatus fast response time, flexibility is good, and depth keeps stabilization, and designs ingenious, practical, is easy to promote.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.Specific embodiment of the present utility model is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Accompanying drawing described herein is used for providing being further understood to of the present utility model, constitutes the part of the application,
Schematic description and description of the present utility model is used to explain the utility model, does not constitute to of the present utility model improper
Limit.In the accompanying drawings：
Fig. 1 is a kind of device assembling schematic diagram of drifting along under water for bionic machine of the present utility model；
Fig. 2 is water pump box internal structure schematic diagram of the present utility model；
Fig. 3 is water pump box of the present utility model and pressurized tank connecting line schematic diagram；
Fig. 4 is a kind of device water route schematic diagram that drifts along under water for bionic machine of the present utility model；
Fig. 5 is a kind of device control principle schematic diagram that drifts along under water for bionic machine of the present utility model；
Label in figure：Skeleton 1, water pump box 2, pressurized tank 3, water pump 21, pressure sensor 22, valve body 23, water pocket 31, gas
32。
Specific embodiment
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Shown in reference picture 1-5, a kind of device that drifts along under water for bionic machine, as shown in figure 1, being controlled including sink-float
Water pump 21, valve body 23 are provided with device, water pump box 2, pressurized tank 3, water pump box 2；Water pocket 31, water pocket 31 and pressure are provided with pressurized tank 3
It is tightly connected between power tank 3；Gas 32 is sealed between water pocket 31 and pressurized tank 3；Water pump 21, valve body 23 connect with sink-float controller
Connect；Water pump 21 is connected with water pocket 31 by pipeline；Pipeline between water pump 21 and pressurized tank 3 is provided with valve body 23；Such as Fig. 2 institutes
Show, sink-float controller is installed in water pump box 2；Intake, application valve body 23 is switched by water pump 21 for the control of sink-float controller.
Preferably, valve body 23 is electromagnetism check valve.
Preferably, the quantity of pressurized tank 3 is more than 2.The quantity of valve body 23 is the twice of the quantity of pressurized tank 3.
Preferably, water pump box 2 is additionally provided with flowmeter；Flowmeter one end is connected by pipeline with water pump 21, and the other end passes through
Pipeline is connected with extraneous waters；Flowmeter is electrically connected with sink-float controller.
Preferably water pump box 2 is additionally provided with pressure sensor 22；Pressure sensor 22 is controlled by sink-float controller.
The sink-float for describing sink-float device under water in detail with reference to Fig. 1-Fig. 5 is controlled：
Water pump box 2 and two pressurized tanks 3 constitute whole sink-float system by connecting line, are controlled equipped with sink-float in water pump box 2
Device processed, the depth transducer being provided with by skeleton 1 detect the depth of the depth that bionic machine is currently located and actual setting come
Two charge and discharge water of water tank of regulation, change the gravity of bionic machine and the relation of buoyancy, realize that bionic machine is upper in water
Floating and dive.
As shown in figure 5, sink-float control flow is as follows：Depth transducer first detects current depth value, is then sent out with master control borad
The setting depth value brought compares, and when depth ratio current depth value hour is set, valve body 23 is opened, gas 32 in pressurized tank 3
Pressure is extruded more than hydraulic pressure in water pocket 31, the reclaimed water of water pocket 31, and bionic machine floats, and is floated every 0.2s detection bionic machines
Speed, when ascent rate is less than 1cm/s, continue draining, slowly force of gravity is big for buoyancy, and ascent rate is gradually increased, and works as floating
When depth value is equal to 1cm/s, valve body 23 is closed, and water pocket 31 stops draining.When ascent rate is more than 1cm/s, water pump 21 is opened,
Water pocket 31 is intake, and gravity is increasingly greater than buoyancy, and ascent rate slows down, and control biomimetics machine is floated with the speed of 1cm/s, is not being had
When reaching set depth, the dynamic charge and discharge water of water pocket 31 floats to set depth with the ascent rate for approaching 1cm/s.Reach setting
After depth, current speed is detected, if current ascent rate value is more than 0.1cm/s, water pocket 31 is intake, if subsidence velocity is more than
0.1cm/s, water pocket 31 discharges water, dynamic regulation, allows bionic machine stabilization setting near depth value；It is currently deep when depth ratio is set
When angle value is big, water pump 21 is opened, and valve body 23 is opened, and water pocket 31 is intake, and gravity is more than buoyancy, and bionic machine sinks, every 200ms
The depth of sinking is detected, outlet valve is opened when the speed sunk is more than 2cm/s, the draining of water pocket 31, when subsidence velocity is equal to
2cm/s, water pump 21 is closed, and valve body 23 is closed, and bionic machine is sunk with the speed of about 2cm/s, is reached near set depth, water pocket
31 start dynamic charge and discharge water, and control ascent rate and subsidence velocity allow bionic machine to be suspended in setting depth attached all in 0.1cm/s
Closely.
As shown in figure 1, a kind of preferred scheme, in the device that drifts along under water installation and skeleton 1, water pump box 2 is installed and skeleton 1
Middle part.Skeleton 1 is provided with 2 pressurized tanks 3, respectively positioned at the rear of skeleton 1 and the head section of skeleton 1.And it is equipped with a high-pressure high-flow
Water pump 21, by it is quick change in pressurized tank 3 water in water pocket 31 number, adjust bionic machine body gravity and buoyancy it
Between relation, realize the motion of bionic machine floating dive.When the water-filling of water pocket 31, the big bionic machine of gravity of bionic machine body
Buoyancy, bionic machine sinks by the presence of gravity, and difference is bigger, and acceleration is bigger.When 31 draining of water pocket, buoyancy is more than weight
Power, bionic machine floats by the effect of buoyancy.When gravity and when buoyancy is equal and speed of bionic machine is equal to 0, bionical machine
Device freely can be suspended in water.In actual control process, the depth that bionic machine is currently located is detected by water depth sensor
Degree, by current depth and the depth ratio for setting compared with when depth is set more than current depth, sink-float controller opens water pump 21
With valve body 23, water pocket 31 is added water, allow the big bionic machine buoyancy of bionic machine body gravity, dive is realized, during dive
The speed that real-time detection is sunk, the controller control water pump 21 that risen and fallen when dive is too fast discharges water, the dive of control biomimetics machine body
Speed, when near bionic machine dive to setting position, water pump 21 makes bionic machine deep in setting by ceaselessly charge and discharge water
Upper and lower fuctuation within a narrow range, realizes that bionic machine is suspended in a certain depth in water near degree.When the depth of setting is less than current depth,
Sink-float controller control water pump 21 discharges water, and floats to set depth, is then suspended near the depth.
The reason for being controlled using double tanks be in order to allow bionic machine floated in water sinking attitude it is more life-like.During floating
Pressurized tank 3 near bionic machine head first discharges water, and allows head first to float up, when the angle that bionic machine head floats reaches in advance
During the angle of setting, rear pressurized tank 3 starts to discharge water, and bionic machine tail is followed and floated, when giving people to feel to float, bionic machine
Head is first lifted, and slowly trip comes up, floating-upward process lifelike image.It is also that bionic machine head section pressurized tank 3 is first intake during sinking, imitates
Raw head machine first sinks, and then rear pressurized tank 3 is intake, and bionic machine afterbody follows sinking, integral sinking process lifelike image.
As shown in Figure 1, Figure 3, former and later two pressurized tanks 3 on bionic machine skeleton, are equiped with water pump box 2, water in the middle of skeleton
The valve body 23 of pump 21 and control flow direction is incorporated into the inner sealing of water pump box 2, water pump 21 and is connected with two pressurized tanks 3 by two pipelines
Connect, a middle short tube is connected with extraneous waters, and short tube is used as the water inlet of water pump 21.Sink-float is by two pressurized tanks 3
Water pocket 31 volume size is controlled.Pressurized tank 3 is sealed with one built with a water pocket 31 between water pocket 31 and the outer wall of pressurized tank 3
The gas 32 of constant-pressure, the volume of water pocket 31 increases after extraneous water is pumped into pressurized tank 3 by water pump 21, compresses ambient gas 32 so that
Bionic machine overall buoyancy reduces.Drainage procedure, by water extrusion pressure tank 3, is increased by the pressure of compressed gas 32 in pressurized tank 3
Plus buoyancy.The pressure of gas 32 is adjustable in pressurized tank 3, to adapt to different waters, such as in the environment of the 10M depth of waters
In, 0.15~0.2MP of air pressure needs can the interior water body extrusion of pipe, the gas in pressurized tank 3 under 20M deep environment in pressurized tank 3
Body needs 0.2~0.3MP.
Pipeline is circulated as shown in figure 4,3 points of pressurized tank is water pot A, water pot B, and valve body 23 is provided with 4, respectively valve a, valve b,
Valve c, valve d, are respectively provided with a flowmeter on two loops, and in the stage intake to water pot A, valve a, valve b, valve d are turned off, valve
C is opened, and in the presence of water pump 21, the water in extraneous waters enters water pot by water pump 21, valve 3 again by the flowmeter on the left side
A.During water pot A discharges water, shutoff valve b, valve c, valve d simultaneously open valve a, and the water in water pot A is discharged in the presence of air pressure in tank,
And outside waters is entered by flowmeter.Water inlet, the draining of B tanks are similarly.When water pot A water inlets, water pot B drainings are carried out simultaneously, close
Valve closing a, valve d, open valve b, valve c, and in the presence of water pump 21, the water in extraneous waters is by the flowmeter on the left side again by water
Pump 21, valve c enter water pot A；Water pot A drainings, water pot B water inlets are similarly；Water pot A, water pot B are intake simultaneously when, shutoff valve a, valve b,
Open valve c, valve d, in the presence of water pump 21, water in extraneous waters by the flowmeter on the left side again by water pump 21, valve c,
Valve d enters water pot A, water pot B；When water pot A, water pot B draining simultaneously, shutoff valve c, valve d open valve a, valve b, water pot A, water pot B
In water discharged in the presence of air pressure in tank, and outside waters is entered by flowmeter.
The utility model provides a kind of device that drifts along under water for bionic machine, including sink-float controller, water pump box, pressure
Power tank, is provided with water pump, valve body in described water pump box；Be provided with water pocket in described pressurized tank, described water pocket and pressurized tank it
Between be tightly connected；Gas is sealed between described water pocket and pressurized tank；Described water pump, valve body are connected with sink-float controller；
Described water pump is connected with water pocket by pipeline；Pipeline between described water pump and pressurized tank is provided with valve body；Described is heavy
Floating controller control water feeding of water pump, application valve body switch.The utility model by controlling the water pump of high-pressure high-flow, quickly put by punching
Water, realizes that bionic machine floating upward quickly, quick dive and is suspended in the depth of setting in water, present apparatus fast response time, spirit
Activity is good, and depth keeps stabilization, and designs ingenious, practical, is easy to promote.
The above, preferred embodiment only of the present utility model not makees any formal to the utility model
Limitation；The those of ordinary skill of all industry can shown in by specification accompanying drawing and the above and swimmingly implement this practicality
It is new；But, all those skilled in the art are not being departed from the range of technical solutions of the utility model, are taken off more than
The technology contents for showing and the equivalent variations of a little variation, modification and evolution made, are Equivalent embodiments of the present utility model；
Meanwhile, the change of all any equivalent variations made to above example according to substantial technological of the present utility model, modify and drill
Become etc., still fall within the protection domain of the technical solution of the utility model.
Claims (10)
1. a kind of device that drifts along under water for bionic machine, including sink-float controller, water pump box (2), pressurized tank (3), it is special
Levy and be：Water pump (21), valve body (23) are provided with described water pump box (2)；Water pocket (31) is provided with described pressurized tank (3),
It is tightly connected between described water pocket (31) and pressurized tank (3)；Gas is sealed between described water pocket (31) and pressurized tank (3)
(32)；Described water pump (21), valve body (23) are connected with sink-float controller；Described water pump (21) is with water pocket (31) by pipeline
Connection；Pipeline between described water pump (21) and pressurized tank (3) is provided with valve body (23)；Described sink-float controller control water
Pump (21) water inlet, application valve body (23) switch.
2. a kind of device that drifts along under water for bionic machine according to claim 1, also including depth detection unit, speed
Degree detection unit, it is characterised in that：Described depth detection unit, speed detection unit be connecteds with sink-float controller, and depth is examined
Survey unit detection depth information and be simultaneously sent to sink-float controller, described speed detection unit detection speed information and be sent to it is heavy
Floating controller.
3. a kind of device that drifts along under water for bionic machine according to claim 1, it is characterised in that：Described valve body
(23) it is electromagnetism check valve.
4. a kind of device that drifts along under water for bionic machine according to claim 3, it is characterised in that：Described pressure
The quantity of tank (3) is more than 2.
5. a kind of device that drifts along under water for bionic machine according to claim 4, it is characterised in that：Described valve body
(23) quantity is the twice of the quantity of pressurized tank (3).
6. a kind of device that drifts along under water for bionic machine according to claim 5, it is characterised in that：A described valve
On pipeline of the body (23) located at pressurized tank (3) and extraneous waters between.
7. a kind of device that drifts along under water for bionic machine according to claim 1, it is characterised in that：Described water pump
Box (2) is additionally provided with flowmeter；Described flowmeter one end is connected by pipeline with described water pump (21), and the other end passes through pipeline
Connected with extraneous waters；Described flowmeter is electrically connected with sink-float controller.
8. a kind of device that drifts along under water for bionic machine according to claim 1, it is characterised in that：Described water pump
Box (2) is additionally provided with pressure sensor (22)；Described pressure sensor (22) is controlled by sink-float controller.
9., according to a kind of one of them described device that drifts along under water for bionic machine of claim 1 to 8, its feature exists
In：The described device that drifts along under water is installed with skeleton (1), and described water pump box (2) is installed and skeleton (1) middle part.
10. a kind of device that drifts along under water for bionic machine according to claim 9, it is characterised in that：Described is heavy
Floating controller is installed in water pump box (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621191266.XU CN206218178U (en) | 2016-11-05 | 2016-11-05 | A kind of device that drifts along under water for bionic machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621191266.XU CN206218178U (en) | 2016-11-05 | 2016-11-05 | A kind of device that drifts along under water for bionic machine |
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| Publication Number | Publication Date |
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| CN206218178U true CN206218178U (en) | 2017-06-06 |
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ID=58791839
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621191266.XU Expired - Fee Related CN206218178U (en) | 2016-11-05 | 2016-11-05 | A kind of device that drifts along under water for bionic machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347611A (en) * | 2016-11-05 | 2017-01-25 | 杭州畅动智能科技有限公司 | Control method based on underwater floating and sinking device |
| CN109220936A (en) * | 2018-11-09 | 2019-01-18 | 美钻深海能源科技研发（上海）有限公司 | A kind of the water injection sink-float system and its sink-float control method of underwater net cage cultivation |
| CN109430132A (en) * | 2018-12-10 | 2019-03-08 | 美钻深海能源科技研发（上海）有限公司 | Underwater breeding mesh cage, which is intelligently inhaled, catches cultivation apparatus |
-
2016
- 2016-11-05 CN CN201621191266.XU patent/CN206218178U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347611A (en) * | 2016-11-05 | 2017-01-25 | 杭州畅动智能科技有限公司 | Control method based on underwater floating and sinking device |
| CN109220936A (en) * | 2018-11-09 | 2019-01-18 | 美钻深海能源科技研发（上海）有限公司 | A kind of the water injection sink-float system and its sink-float control method of underwater net cage cultivation |
| CN109430132A (en) * | 2018-12-10 | 2019-03-08 | 美钻深海能源科技研发（上海）有限公司 | Underwater breeding mesh cage, which is intelligently inhaled, catches cultivation apparatus |
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Effective date of registration: 20180629 Address after: 321399 fourth 228 Chengxin Road, Yongkang Economic Development Zone, Zhejiang Patentee after: Yongkang taxi Intelligent Technology Co., Ltd. Address before: 310000 3 building, 1 science and Technology Park, Liangzhu University, Liangzhu street, Liangzhu street, Yuhang, Hangzhou, Zhejiang Patentee before: Hangzhou Chang Intelligent Technology Co., Ltd. |
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Address after: 321300 fourth fourth Chengxin Road, Yongkang Economic Development Zone, Jinhua, Zhejiang Patentee after: Yongkang Rider Intelligent Technology Co., Ltd. Address before: 321399 fourth 228 Chengxin Road, Yongkang Economic Development Zone, Zhejiang Patentee before: Yongkang taxi Intelligent Technology Co., Ltd. |
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Granted publication date: 20170606 Termination date: 20191105 |