CN206841690U - A kind of partly latent unmanned boat buoyancy balance system - Google Patents
A kind of partly latent unmanned boat buoyancy balance system Download PDFInfo
- Publication number
- CN206841690U CN206841690U CN201720572242.7U CN201720572242U CN206841690U CN 206841690 U CN206841690 U CN 206841690U CN 201720572242 U CN201720572242 U CN 201720572242U CN 206841690 U CN206841690 U CN 206841690U
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- ballast tank
- water pump
- water
- steering wheel
- hull
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Abstract
The utility model discloses a kind of partly latent unmanned boat buoyancy balance system,Within hull,The inner chamber middle part of the hull is divided into Forward Ballast Tank from front to back by two pieces of watertight bulkheads,Middle cabin and stern ballast tank,The first water pocket is provided with the Forward Ballast Tank,The side wall in the middle cabin is provided with the first water pump,And first the water inlet of water pump be connected by pipeline with Forward Ballast Tank,This partly latent unmanned boat buoyancy balance system,It is simple in construction,Available for the closed loop automatic control system for adjusting miniature submerged body navigation posture,Pass through the change of accelerometer and the pressure sensor real-time capture depth of water and trim angle,Then live signal is passed into PLC,By output parameter is calculated,Control the first water pump,The operating of second water pump and the 3rd water pump,And then Forward Ballast Tank and stern ballast tank ballast water are adjusted to realize steady steaming of the hull near free surface,Stability is strong,It is easy to adjust.
Description
Technical field
Unmanned boat buoyant equilibrium technical field is the utility model is related to, specially a kind of partly latent unmanned boat buoyant equilibrium system
System.
Background technology
When unmanned boat is in surface navigation, the Trimming Moment very little suffered by it, Trimming Moment coefficient levels off to zero, and near
The submerged body of surface navigation, due to the presence of free surface, in the presence of free surface, unmanned boat operational configuration in the water surface with navigating
Row state difference is very big, and unmanned boat will be by larger Trimming Moment, for miniature semi-submerged ship, the effect of this Trimming Moment
It can not ignore, it will seriously change the operational configuration of semi-submerged ship and produce the unstable situation such as trim, influence the steady of hull
Fixed traveling.
Utility model content
The technical problems to be solved in the utility model is to overcome the defects of existing, there is provided a kind of partly latent unmanned boat buoyant equilibrium
System, stability is strong, easy to control, it is possible to achieve steady steaming of the miniature hull near free surface, can effectively solve
The problem of in background technology.
To achieve the above object, the utility model provides following technical scheme：A kind of partly latent unmanned boat buoyancy balance system,
Within hull, in the middle part of the inner chamber of the hull by two pieces of watertight bulkheads be divided into Forward Ballast Tank from front to back, in
Between cabin and stern ballast tank, is provided with the first water pocket in the Forward Ballast Tank, the side wall in the middle cabin is provided with the first water pump, and
The water inlet of first water pump is connected by pipeline with Forward Ballast Tank, the position of centre of gravity in the middle cabin be provided with accelerometer and
PLC, the bottom in the middle cabin are provided with pressure sensor, and the lateral wall of the stern ballast tank is relative to be provided with two
Flap-type rudder, the inner chamber middle part of the stern ballast tank are provided with the second water pocket, and second water pocket and the first water pocket pass through two flexible pipes
Be connected, be separately installed with the second water pump and the 3rd water pump in the middle part of two flexible pipes, the input of the PLC respectively with carrying
Power supply, accelerometer are connected with the output end of pressure sensor, and the output end of the PLC is respectively at the first water pump,
The input of two water pumps and the 3rd water pump is connected.
As a kind of optimal technical scheme of the present utility model, the hull side wall and the interface of the first pump outlet
Provided with screen pack.
As a kind of optimal technical scheme of the present utility model, the stern ballast tank inner chamber of the second water pocket both sides is provided with
The first steering wheel and the second steering wheel being connected respectively with two flap-type rudders, the input of first steering wheel and the second steering wheel respectively at
The output end of PLC is connected.
As a kind of optimal technical scheme of the present utility model, first steering wheel and the second steering wheel are that can realize PWM
The steering wheel of speed governing.
Compared with prior art, the beneficial effects of the utility model are：This partly latent unmanned boat buoyancy balance system, structure letter
It is single, it is real-time by accelerometer and pressure sensor available for the closed loop automatic control system for adjusting miniature submerged body navigation posture
The change of the depth of water and trim angle is caught, live signal is then passed into PLC, by output parameter is calculated,
The operating of the first water pump, the second water pump and the 3rd water pump is controlled, and then adjusts Forward Ballast Tank and stern ballast tank ballast water to realize
Steady steaming of the hull near free surface, stability is strong, easy to adjust.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
In figure：1 first water pocket, 2 first water pumps, 3 second water pumps, 4 accelerometers, 5 second water pockets, 6 flap-type rudders, 7 first
Steering wheel, 8 second steering wheels, 9 watertight bulkheads, 10 the 3rd water pumps, 11 pressure sensors, 12 flexible pipes, 13PLC controllers, 14 hulls.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Referring to Fig. 1, the utility model provides a kind of technical scheme：A kind of partly latent unmanned boat buoyancy balance system, comprising
Within hull 14, Forward Ballast Tank from front to back, middle cabin are divided into by two pieces of watertight bulkheads 9 in the middle part of the inner chamber of hull 14
Room and stern ballast tank, Forward Ballast Tank is interior to be provided with the first water pocket 1, and the side wall in middle cabin is provided with the first water pump 2, and the first water pump 2
Water inlet be connected by pipeline with Forward Ballast Tank, the interface of the side wall of hull 14 and the delivery port of the first water pump 2 is provided with screen pack,
Filter screen filtration falls the suspension of water body, and the position of centre of gravity in middle cabin is provided with accelerometer 4 and PLC 13, middle
The bottom in cabin is provided with pressure sensor 11, and the lateral wall of stern ballast tank is relative to be provided with two flap-type rudders 6, stern ballast tank it is interior
The second water pocket 5 is provided with the middle part of chamber, the stern ballast tank inner chamber of the both sides of the second water pocket 5 is provided with what is be connected respectively with two flap-type rudders 6
First steering wheel 7 and the second steering wheel 8, the first steering wheel 7 and the second steering wheel 8 are that can realize the steering wheel of PWM speed governing, the He of the first steering wheel 7
The input of second steering wheel 8 is connected respectively at the output end of PLC 13, and the second water pocket 5 and the first water pocket 1 are soft by two
Pipe 12 is connected, and two middle parts of flexible pipe 12 are separately installed with the second water pump 3 and the 3rd water pump 10, the input point of PLC 13
Not with carrying power supply, the output end of accelerometer 4 and pressure sensor 11 be connected, the output end of PLC 13 is respectively at the
One water pump 2, the second water pump 3 are connected with the input of the 3rd water pump 10, and this partly latent unmanned boat buoyancy balance system is simple in construction,
It is real-time by accelerometer 4 and pressure sensor 11 available for the closed loop automatic control system for adjusting miniature submerged body navigation posture
The change of the depth of water and trim angle is caught, live signal is then passed into PLC 13, by output ginseng is calculated
Number, the operating of the first water pump 2 of control, the second water pump 3 and the 3rd water pump 10, and then adjust Forward Ballast Tank and stern ballast tank ballast water
To realize steady steaming of the hull 14 near free surface, stability is strong, easy to adjust.
When in use：The trim angle and draft value of hull 14 are measured by accelerometer 4 and pressure sensor 11,
Variation in water pressure in Forward Ballast Tank is changed by the first water pump 2, controls the second water pump 3 and the 3rd water pump 10 to the He of the first water pocket 1
Second water pocket 5 carries out the balanced exchange of ballast water, and the purpose of regulation Forward Ballast Tank and stern ballast tank balance is reached with this, coordinates the
The adjustment of one steering wheel 7 and the second steering wheel 8 to the angle of flap-type rudder 6, weaken and balance the Trimming Moment of hull 14.
The utility model stability is strong, easy to control, is ensured by the ballast water coke slurry of the first water pocket 1 and the second water pocket 5
The stability of hull 14, the Trimming Moment of hull 14 is offset by the adjustment of two angles of flap-type rudder 6, it is possible to achieve miniature hull
14 steady steaming near free surface.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
- A kind of 1. partly latent unmanned boat buoyancy balance system, within hull (14), it is characterised in that：The hull (14) Inner chamber middle part is divided into Forward Ballast Tank, middle cabin and stern ballast tank from front to back, the bow by two pieces of watertight bulkheads (9) The first water pocket (1) is provided with ballast tank, the side wall in the middle cabin is provided with the first water pump (2), and the water inlet of the first water pump (2) Mouth is connected by pipeline with Forward Ballast Tank, and the position of centre of gravity in the middle cabin is provided with accelerometer (4) and PLC (13), the bottom in the middle cabin is provided with pressure sensor (11), and the lateral wall of the stern ballast tank is relative to be provided with two Flap-type rudder (6), the inner chamber middle part of the stern ballast tank are provided with the second water pocket (5), second water pocket (5) and the first water pocket (1) It is connected by two flexible pipes (12), the second water pump (3) and the 3rd water pump (10) is separately installed with the middle part of two flexible pipes (12), it is described The input of PLC (13) is connected with carrying the output end of power supply, accelerometer (4) and pressure sensor (11) respectively, Input of the output end of the PLC (13) respectively at the first water pump (2), the second water pump (3) and the 3rd water pump (10) It is connected.
- A kind of 2. partly latent unmanned boat buoyancy balance system according to claim 1, it is characterised in that：Hull (14) side The interface of wall and the first water pump (2) delivery port is provided with screen pack.
- A kind of 3. partly latent unmanned boat buoyancy balance system according to claim 1, it is characterised in that：Second water pocket (5) the stern ballast tank inner chamber of both sides is provided with the first steering wheel (7) and the second steering wheel (8) being connected respectively with two flap-type rudders (6), First steering wheel (7) is connected with the signal input part of the second steering wheel (8) respectively at the output end of PLC (13).
- A kind of 4. partly latent unmanned boat buoyancy balance system according to claim 3, it is characterised in that：First steering wheel (7) and the second steering wheel (8) is the steering wheel that can realize PWM speed governing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720572242.7U CN206841690U (en) | 2017-05-22 | 2017-05-22 | A kind of partly latent unmanned boat buoyancy balance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720572242.7U CN206841690U (en) | 2017-05-22 | 2017-05-22 | A kind of partly latent unmanned boat buoyancy balance system |
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| CN206841690U true CN206841690U (en) | 2018-01-05 |
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| CN201720572242.7U Active CN206841690U (en) | 2017-05-22 | 2017-05-22 | A kind of partly latent unmanned boat buoyancy balance system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928451A (en) * | 2017-05-22 | 2018-12-04 | 天津海之星船艇科技有限公司 | A kind of unmanned boat buoyancy balance system partly latent |
| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
| CN109466728A (en) * | 2018-11-07 | 2019-03-15 | 上海海洋大学 | Unpowered dive floating movement technique and system applied to deep-submarine |
| CN109606594A (en) * | 2018-11-13 | 2019-04-12 | 浙江大学 | A kind of underwater glider of memorial alloy driving gesture stability |
| CN109930495A (en) * | 2019-04-12 | 2019-06-25 | 郑州市交通规划勘察设计研究院 | A kind of application method of Bridge Erector and Bridge Erector |
| CN114537598A (en) * | 2022-01-24 | 2022-05-27 | 河北先河环保科技股份有限公司 | Unmanned ship of miniature water quality testing |
| CN115743483A (en) * | 2022-11-28 | 2023-03-07 | 深海技术科学太湖实验室 | Automatic balancing device for gas driving balance piece |
-
2017
- 2017-05-22 CN CN201720572242.7U patent/CN206841690U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928451A (en) * | 2017-05-22 | 2018-12-04 | 天津海之星船艇科技有限公司 | A kind of unmanned boat buoyancy balance system partly latent |
| CN109466728A (en) * | 2018-11-07 | 2019-03-15 | 上海海洋大学 | Unpowered dive floating movement technique and system applied to deep-submarine |
| CN109606594A (en) * | 2018-11-13 | 2019-04-12 | 浙江大学 | A kind of underwater glider of memorial alloy driving gesture stability |
| CN109334923A (en) * | 2018-12-10 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | A kind of underwater crawler belt intelligent robot buoyancy regulating device |
| CN109930495A (en) * | 2019-04-12 | 2019-06-25 | 郑州市交通规划勘察设计研究院 | A kind of application method of Bridge Erector and Bridge Erector |
| CN114537598A (en) * | 2022-01-24 | 2022-05-27 | 河北先河环保科技股份有限公司 | Unmanned ship of miniature water quality testing |
| CN115743483A (en) * | 2022-11-28 | 2023-03-07 | 深海技术科学太湖实验室 | Automatic balancing device for gas driving balance piece |
| CN115743483B (en) * | 2022-11-28 | 2023-09-29 | 深海技术科学太湖实验室 | Automatic balancing device for fuel gas driving balance piece |
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