CN206766305U - A kind of pressure storage type Submerged moving body attitude control system - Google Patents
A kind of pressure storage type Submerged moving body attitude control system Download PDFInfo
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- CN206766305U CN206766305U CN201720265015.XU CN201720265015U CN206766305U CN 206766305 U CN206766305 U CN 206766305U CN 201720265015 U CN201720265015 U CN 201720265015U CN 206766305 U CN206766305 U CN 206766305U
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- pressure
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- ballasting
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Abstract
A kind of pressure storage type Submerged moving body attitude control system is the utility model is related to, it is provided with main flow pipe, and water suction hole matrix is equipped with the described face of main flow pipe front, rear, left and right four；One end of connection pressure piping below main flow pipe, the other end connection storage ballasting of pressure piping；Described pressure piping is sequentially provided with booster pump and check valve from main flow pipe to the direction for storing up ballasting；Described booster pump connection differential pressure controller；Described storage ballasting is provided with some docking stations, and executing agency is connected by docking station by rubber hose with storage ballasting, and described executing agency includes steering wheel and ceramic valve, and described steering wheel is provided with synchronous motor and synchronous motor controller.System of the present utility model only controls the free degree of any dimension by changing the quantity, installation site and installation direction can of executing agency, have the advantages that caused thrust is big, gesture stability is accurate, and structural volume is small, the minimizing of Submerged moving body gesture stability, integrated demand can be met.
Description
Technical field
Submerged moving body attitude control technology field is the utility model is related to, specifically, is related to a kind of new storage
Pressure type Submerged moving body attitude control system, in particular for the attitude control system of small underwater moving object.
Background technology
Submerged moving body (such as submarine and torpedo) has extensively either in military affairs, or in human being's production life
General application, and it is important prerequisite and the guarantor that Submerged moving body can smoothly complete task that good gesture stability is carried out to it
Barrier.
The gesture stability mode of Submerged moving body usually relies on screw propeller to realize at present.This kind of mode application
It is more universal, but this method requirement is controlled in dimension at each and is respectively mounted screw propeller, cause robot architecture compared with
For bulky complex, and cost is higher.Chinese patent literature CN201210255788.1, publication date 2012.10.24, discloses one
Attitude control system under kind manned deep-sea vehicle energy-saving water, including Depth control device, longitudinal trim control device, Depth control device
Including pressure-resistant water tank and Buoyance adjustment water tank, the water injecting pipeline of pressure-resistant water tank is connected by water injection valve with logical outboard water valve, pressure-resistant
The discharge pipe line of water tank is connected by draining valve through draining pump with logical outboard water valve, and the water lines of Buoyance adjustment water tank pass through buoyancy
Adjustment water valve connects with the discharge pipe line of pressure-resistant water tank, while pressure-resistant water tank is connected with compressed air system；Trim control dress
Put and connected including right four a first left, first right, tail left side, tail internal water tanks, first left water tank via air pressure distribution instrument with the right water tank of tail, head
Right water tank connects via air pressure distribution instrument with the left water tank of tail；First left water tank is connected by larboard water lines with the left water tank of tail, first right
Water tank is connected by starboard water lines with the right water tank of tail.The invention can realize the depth under water stabilization and trim of manned deep-sea vehicle
Equilibrium function, meet the power conservation requirement of system.But the underwater attitude control system is not particularly suited for small underwater moving object, and
Structure is more complicated, and accommodative facility is not good enough.
It yet there are no and be applied to small underwater moving object, can flexibly and accurately control its posture, and take underwater fortune
The few control system in animal body inner space.
The content of the invention
The purpose of this utility model is to be directed to deficiency of the prior art, there is provided a kind of pressure storage type Submerged moving body posture
Control system.
To achieve the above object, the utility model adopts the technical scheme that：
A kind of pressure storage type Submerged moving body attitude control system, provided with main flow pipe, connection increasing below described main flow pipe
The one end on pressure pipe road, the other end connection storage ballasting of described pressure piping；Described pressure piping is from main flow pipe to storage ballasting
Direction on be sequentially provided with booster pump and check valve；Described booster pump connection differential pressure controller；Described storage ballasting is provided with
Executing agency is connected by some docking stations, described docking station by flexible pipe with storage ballasting, and described executing agency includes steering wheel
With the valve opened and closed by servos control.
Described valve is ceramic valve.
Described flexible pipe is rubber hose.
Described docking station number is 10 or more than 10.
The outer wall of described main flow pipe is provided with symmetrical suction hole.
Water suction hole matrix is equipped with the face of front, rear, left and right four of described main flow pipe.
Described check valve is located at the position that pressure piping is connected with storage ballasting.
Described storage ballasting is rectangular-shape, cube-shaped or cylindric, but is not limited only to this.
For system of the present utility model when work, Submerged moving body can control booster pump will by differential pressure controller
Hydraulic pressure enters to store up in ballasting, the pressure difference inside and outside storage ballasting is kept constant, when needing in certain dimension power output, synchronous motor control
Device controls synchronous motor that ceramic valve is opened into certain angle, and larger pressure will extrude the water stored up in ballasting simultaneously through ceramic valve
Produce thrust.Its specific advantage is as follows：
1st, for Submerged moving body attitude control system of the prior art, system of the present utility model is maximum
Advantage is that structure is small, occupancy Submerged moving body inner space is few, can freely increase executing agency according to the actual requirements or lead to
Crossing the mode of the position and direction that change existing executing agency increases or changes the control freedom degree of Submerged moving body.
2nd, using ceramic valve, servos control valve opening, and compound rubber flexible pipe, thrust output can be precisely controlled
Size, while executing agency can provide larger thrust, and ceramic valve can make the output of power more rapid, efficiently.
3rd, store up the pressure difference inside and outside ballasting and keep constant and make it that thrust output will not be influenceed by water depth ratio, therefore this reality
Larger depth is can be applied to new system.
4th, booster body is by the way of the supercharging of multidirectional uniform water absorption, i.e., equably towards four direction water suction rather than certain list
One direction so that its booster pump will not cause Submerged moving body towards some direction because of being absorbed water to single direction at work
Motion, robot remains to keep attitude stabilization when further ensuring water suction supercharging.
Brief description of the drawings
Fig. 1 is the schematic diagram of Tthe utility model system.
Fig. 2 is storage pressure action flow chart.
Fig. 3 is pose adjustment action flow chart.
Embodiment
Embodiment provided by the invention is elaborated below in conjunction with the accompanying drawings.
The reference and part being related in accompanying drawing are as follows：
1. the pressure piping of main flow pipe 2.
3. store up the booster pump of ballasting 4.
5. the docking station of check valve 6.
7. the executing agency of rubber hose 8.
9. the ceramic valve of steering wheel 10.
Embodiment 1
Fig. 1 is referred to, Fig. 1 is the schematic diagram of Tthe utility model system.Described system is provided with main flow pipe 1, described master
Water suction hole matrix 11 is equipped with the face of flow tube 1 front, rear, left and right four, described water suction hole matrix 11 is to be in by some suction holes
Rectangular arrangement forms.One end of the lower section of main flow pipe 1 connection pressure piping 2, the other end connection storage pressure of described pressure piping 2
Cabin 3.The pressure piping 2 is sequentially provided with booster pump 4 and check valve 5 from main flow pipe 1 to the direction for storing up ballasting 3, specifically, institute
The check valve 5 stated is located at the position that pressure piping 2 is connected with storage ballasting 3.Described booster pump 4 also (is schemed with differential pressure controller
Not shown in) be connected.Described storage ballasting 3 is rectangular-shape, and four side walls are provided with some docking stations 6, described docking station 6
Executing agency 8 is connected with storage ballasting 3 by rubber hose 7, described executing agency 8 includes steering wheel 9 and ceramic valve 10, described
The inside of steering wheel 9 be provided with synchronous motor and corresponding synchronous motor controller.
It should be noted that：The described effect of check valve 5 is that current will not flow through pressure piping 2 when ensureing thrust output
Go out, be preferably disposed to the position that pressure piping 2 is connected with storage ballasting 3, it is ensured that water will not flow to pressure piping during thrust output
2, the fully stabilization inside maintenance.Described differential pressure controller effect is by sensing the inside and outside differential pressure of storage ballasting 3 and then control
The startup and closing of booster pump 4 so that storage ballasting 3 inside and outside differential pressure keeps constant, and differential pressure controller can be assemblied in the interior of booster pump 4
Portion.The described effect of steering wheel 9 is to control current output size by changing the aperture of ceramic valve 8 to control the big of power output
It is small.Described storage ballasting 3 can also be the shapes such as square, cylinder, is easy to mutually assemble with Submerged moving body, is easy to simultaneously
The arrangement of the relative symmetry of docking station 6, so it is more easily controlled the posture of Submerged moving body.Described rubber hose 7 not only limits
In this, using flexible pipe, but preferably rubber hose, because its intensity, toughness, elasticity are very excellent, can make to export to push away
Power is bigger, more stable.Described ceramic valve 10 is also not limited to this, and using valve, it is preferable to employ ceramic valve, can make
Power output is more rapid, efficient.
The control of the multiple dimensions of Submerged moving body can be merged into same control centre by system of the present utility model,
The minimizing of Submerged moving body gesture stability, integrated demand are realized, therefore possesses that structure is small, takes in Submerged moving body
The few advantage in portion space.Further, since storage ballasting 3 is to connect executing agency 8 by docking station 6, rubber hose 7, therefore can root
Freely increase executing agency 8 according to actual demand or increasing by way of changing the position and direction of existing executing agency 8 or
Change the control freedom degree of Submerged moving body, the flexibility ratio and precision for making regulation greatly increase, it is preferable that the storage ballasting 3
The upper number of docking station 6 is 10 or more than 10.Because water outlet is using ceramic valve 10, (the built-in synchronous motor controller of steering wheel 9
And synchronous motor) control valve aperture, therefore can accurately control the flow for spraying current, so it is accurate control produced by push away
The size of power, the structure also have the characteristics that long lifespan, reliability are high；And because water outlet is to coordinate tail end using rubber hose 7
Executing agency 8 complete, this kind of structure design can provide larger thrust.Store up ballasting 3 inside and outside pressure difference keep it is constant can
So that thrust output will not be influenceed by water depth ratio, therefore system of the present utility model can be applied to larger depth.Again
On the one hand, its booster body of system of the present utility model is by the way of the supercharging of multidirectional uniform water absorption, i.e., equably towards four sides
To water suction rather than certain single direction so that booster pump 4 will not cause sub-aqua sport because of to single direction water suction at work
Object moves towards some direction, and then ensure that robot remains to keep attitude stabilization when the system water suction is pressurized.
The specific action of system of the present utility model can be divided into storage and press work and pose adjustment action；The two action difference
It is independent to carry out, it does not interfere with each other.The system is opened and closed by booster pump 4 to maintain to store up the inside and outside differential pressure of ballasting 3 stable in setting value；
By controlling the aperture of ceramic valve 10 of executing agency 8, water is quickly and accurately extruded from storage ballasting 3 and produce gesture stability institute
Thrust is needed, to realize the gesture stability to Submerged moving body.Specifically, storage pressure motion flow is referring to Fig. 2：First by pressure difference control
The device detection storage inside and outside differential pressure of ballasting 3 processed, when it is less than setting value, differential pressure controller controls booster pump 4 via main flow pipe 1 and list
To valve 5 to storage ballasting 3 in absorb water be pressurized, continue to pressure difference reach setting value when, differential pressure controller drive booster pump 4 stop work
Make.Pose adjustment motion flow is referring to Fig. 3：After the synchronous motor controller built in steering wheel 9 receives attitude regulation instruction, together
Motor controller controls synchronous motor startup is walked, synchronous motor drives ceramic valve 10 to open certain angle to spray water and then offer
Thrust needed for pose adjustment, after Submerged moving body posture reaches claimed condition, steering wheel 9 is again started up, and drives ceramic valve 10
To complete closure.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, on the premise of the inventive method is not departed from, can also make some improvement and supplement, and these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (8)
1. a kind of pressure storage type Submerged moving body attitude control system, it is characterised in that provided with main flow pipe, under described main flow pipe
One end of side's connection pressure piping, the other end connection storage ballasting of described pressure piping；Described pressure piping is from main flow pipe
Booster pump and check valve are sequentially provided with to the direction of storage ballasting；Described booster pump connection differential pressure controller；Described storage pressure
Cabin is provided with some docking stations, and executing agency is connected by described docking station by flexible pipe with storage ballasting, described executing agency
The valve opened and closed including steering wheel and by servos control.
2. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described valve
It is ceramic valve.
3. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described flexible pipe
It is rubber hose.
4. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described expansion
Mouth number is 10 or more than 10.
5. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described main flow
The outer wall of pipe is provided with symmetrical suction hole.
6. pressure storage type Submerged moving body attitude control system according to claim 5, it is characterised in that described main flow
Water suction hole matrix is equipped with the face of front, rear, left and right four of pipe.
7. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described is unidirectional
Valve is located at the position that pressure piping is connected with storage ballasting.
8. pressure storage type Submerged moving body attitude control system according to claim 1, it is characterised in that described storage pressure
Cabin is rectangular-shape or cylindric.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720265015.XU CN206766305U (en) | 2017-03-18 | 2017-03-18 | A kind of pressure storage type Submerged moving body attitude control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720265015.XU CN206766305U (en) | 2017-03-18 | 2017-03-18 | A kind of pressure storage type Submerged moving body attitude control system |
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| CN206766305U true CN206766305U (en) | 2017-12-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741759A (en) * | 2017-03-18 | 2017-05-31 | 欧舶智能科技（上海）有限公司 | A kind of new pressure storage type Submerged moving body attitude control system |
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- 2017-03-18 CN CN201720265015.XU patent/CN206766305U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741759A (en) * | 2017-03-18 | 2017-05-31 | 欧舶智能科技（上海）有限公司 | A kind of new pressure storage type Submerged moving body attitude control system |
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