CN208789913U - The autonomous trimming system of operating equipment buoyancy under full sea deep water - Google Patents

The autonomous trimming system of operating equipment buoyancy under full sea deep water Download PDF

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Publication number
CN208789913U
CN208789913U CN201821422092.2U CN201821422092U CN208789913U CN 208789913 U CN208789913 U CN 208789913U CN 201821422092 U CN201821422092 U CN 201821422092U CN 208789913 U CN208789913 U CN 208789913U
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CN
China
Prior art keywords
resistance
super
pressure
leather bag
supporting leg
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CN201821422092.2U
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Chinese (zh)
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郭亭亭
苏志强
李国栋
周丽芹
宋大雷
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Ocean University of China
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Ocean University of China
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Abstract

The utility model discloses the autonomous trimming systems of operating equipment buoyancy under a kind of complete extra large deep water, including several high pressure resistant buoyancy self-calibration devices, the high pressure resistant buoyancy self-calibration device includes the deep-sea composite cabin of resistance to super-pressure, the scalable leather bag of resistance to super-pressure, leather bag telescopic adjustment supporting mechanism and reciprocating drive mechanism；One end of the deep-sea composite cabin of resistance to super-pressure is arranged in the scalable leather bag of resistance to super-pressure, the inside of the scalable leather bag of resistance to super-pressure is arranged in leather bag telescopic adjustment supporting mechanism, leather bag telescopic adjustment supporting mechanism is connect with reciprocating drive mechanism, and the inside of the deep-sea composite cabin of resistance to super-pressure is arranged in reciprocating drive mechanism.The utility model uses the scalable leather bag of resistance to super-pressure of advantages of compact and light structure, leather bag telescopic adjustment supporting mechanism and large torque is cooperated to carry self-locking reciprocating drive mechanism, realize the autonomous trim function of buoyancy in ultra-deep sea hyperpressure, advantages of compact and light structure, it is low to control cumbersome degree, have a wide range of application, it is versatile.

Description

The autonomous trimming system of operating equipment buoyancy under full sea deep water
Technical field
The utility model relates to a kind of underwater assisted class equipment, operating equipment under a kind of complete extra large deep water is concretely related to With the autonomous trimming system of buoyancy, belong to the buoyancy trim technical field of ultra-deep sea operating equipment.
Background technique
21 century is " numerical ocean model ", the new century that human society enters full cognizance, develops ocean.Various countries are competitively fought for This block of international seabed is last in the world, is also the largest " common heritage of mankind " cake.Since ocean Yin KURA is numerous Mineral resources and unknown biological secret, show huge commercial interest and scientific value, various countries promoted to be proposed one after another New ocean development strategy and ocean science development plan, increase input and gain the initiative, it is intended to become ocean and make the country prosperous.
In recent years, with the promotion and implementation of China " ocean power " strategy, no matter marine surveys are in range or technology In terms of ability, has and significantly promoted.In modern marine environmental parameter acquisition equipment, tradition relies on buoyancy-driven machine Structure changes volume and is motion-promotion force or accounts for the exhausted big of hydrospace detection equipment by the deepwater robot that buoyancy carries out synkinesia Most specific gravity, such as underwater glider, ROV, AUV, ARGO etc..Under current marine field technology, these equipment are before work The overwhelming majority used is a buoyancy trim technology, it may be assumed that according to the density and underwater operation machine of operation sea area seawater surface The volume of people and the relationship of weight carry out seawater surface trim, so that buoyancy and gravity remain basically stable, are carrying out underwater appearance in this way When state transformation or forward-reverse, the difference for overcoming gravity and buoyancy is needed to become smaller, to reduce power consumption.
But since aircraft composition material is various under big deep-water submersible and the form of pressure-resistant cabin is different, and different navigation It is highly difficult to accurately calculate different keel depth trim amounts for the uncertainty of waters hydrological environment, therefore needs before the test for not Trim is carried out with submerged depth；And under the deep-marine-environment of ocean, trim process is very time-consuming and difficult.Currently, general use is divided Dive trim several times, the method for stepping up submerged depth and being stepped up trim lead reach the mesh that predetermined depth optimization is navigated by water 's.Need 2~3 dives that the optimization trim in predetermined depth just may be implemented under normal circumstances.Since keel depth is big, dive The long and relative difficulty with the floating operating process implementation cycle, poor sensitivity expend a large amount of manpower and material resources and there is very big skill Art defect:
Technological deficiency I: underwater operation equipment must be in advance according to will seawater surface where dive sea area when launching The relationship of the volume and weight of density and underwater operation robot carries out seawater surface trim.But if the motion range of equipment compared with The density of sea water of (depth change range is larger, and voyage range is larger) greatly, such as underwater glider, AUV, place sea area changes Measure larger, suffered buoyancy knots modification is larger, at this time before in the trim that seawater surface carries out correspond to buoyancy and gravitational difference Value does not reaccees nought state, but a biggish difference, and underwater operation equipment is if you need to keep depth constant or convert at this time At expected operating attitude or state, it is necessary to movement or posture changing can be implemented by external force such as propellers.Such as: due to sea Water density increases with sea water advanced increase, in the case where the constancy of volume of deep sea surveying robot, weight are constant, with The increase of its submerged depth, the buoyancy by seawater will increase, if expectation underwater operation equipment keeps a certain posture, it is necessary to according to It can implement movement or posture changing by external force such as propellers.
Technological deficiency II: since aircraft composition material is various under big deep-water submersible and the form of pressure-resistant cabin is different, with And the uncertainties of different navigation waters hydrological environments, it is highly difficult to accurately calculate different keel depth trim amounts, therefore trim process It is complicated cumbersome.And under the deep-marine-environment of ocean, trim process is very time-consuming and difficult.Such as current underwater glider is come It says, it is necessary first to fresh water trim, then interior trim, outer trim, and then seawater trim.It is singly that a seawater trim works, one It is trim work few then time of equipment, more then times a couple of days, huge to the consumption of man power and material.Therefore, it reduces autonomous Submarine navigation device dive trim number and raising trim quality have important practical significance.
Certainly, there are also a dive can trim equipment.If number of patent application is in 201310639466.1 State's invention patent discloses a kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft, which is related to Autonomous Underwater boat The corollary equipment of row device, including buoyancy material outer cover, outer leather bag cabin, leather bag, control cabinet pneumatic shell, control valve, pressure-resistant cabin side end cap And pressure-resistant cabin shell, outer leather bag cabin, control cabinet pneumatic shell, pressure-resistant cabin side end cap and pressure-resistant cabin shell are sequentially connected, and by floating Dead-wood outer cover wraps up, and is respectively provided with leather bag in outer leather bag cabin and pressure-resistant cabin shell, is provided with limbers on outer leather bag cabin；Control valve peace In control cabinet pneumatic shell, be connected respectively with two leather bags, control valve by Autonomous Underwater aircraft control two leather bags it Between oily flow direction；Oil liquid in outer leather bag cabin in leather bag flows in the intracorporal leather bag of pressure-resistant cabin shell, by outer leather bag cabin Leather bag volume variation carry out buoyancy adjusting.Dive of the invention can trim, be not required to carry out additional trim operation, It can realize the optimization trim of weight buoyancy.But there are two larger technical problems for the mechanism: 1. since the change of buoyancy needs By oil circuit, high-pressure pump and high pressure valve, therefore bulky problem is not can avoid；Because the equipment only sets underwater operation Standby buoyancy aid is adjusted, and the huge of volume will necessarily bring other equilibrium problems.2. because the invention is single floats Apparatus for adjusting force, when deep ocean work equipment needs multiple points, carries out buoyancy compensation even more than three-dimensional point, face, due to being all The device of dispersion, first Communication become extremely complex, further need exist for detecting and controlling multiple devices respectively, band The problem come is: or need individually to set up control module and communicate with underwater operation equipment or be made using underwater The original control module of industry equipment certainly will increase the complexity of original system control in this way, be unfavorable for the modularization and production of equipment Product.3. the outer leather bag as used in the invention is band fold and is cylindrical structure, the type according to practical extra large examination experience Outer leather bag is can not be high pressure resistant and to betide the vertical direction of expected fold different for shape under certain deep sea pressure, if aircraft Small volume itself, then being affected to the position of centre of buoyancy due to the change of crust scrotiform shape, is not inconsistent with target.
Utility model content
Based on above-mentioned technical problem, the utility model provides the autonomous trim system of operating equipment buoyancy under a kind of complete extra large deep water System.
Technical solution used by the utility model is:
The autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water, the system include several high pressure resistant buoyancy from Caliberating device, the high pressure resistant buoyancy self-calibration device include the deep-sea composite cabin of resistance to super-pressure, the scalable leather bag of resistance to super-pressure, skin Capsule telescopic adjustment supporting mechanism and reciprocating drive mechanism；
One end of the deep-sea composite cabin of resistance to super-pressure, the support of leather bag telescopic adjustment is arranged in the scalable leather bag of resistance to super-pressure The inside of the scalable leather bag of resistance to super-pressure is arranged in mechanism, and leather bag telescopic adjustment supporting mechanism is connect with reciprocating drive mechanism, past The inside of the deep-sea composite cabin of resistance to super-pressure is arranged in multiple driving mechanism；
The scalable leather bag of resistance to super-pressure includes the elastic compression leg of resistance to superelevation capsule utricule, and the elastic compression leg of resistance to superelevation capsule utricule is Cylindrical structure, and the fold circle structure of multiple radial directions is presented in the elastic compression leg of resistance to superelevation capsule utricule surface, it is resistance in elasticity The side of superelevation compression leg capsule utricule is provided centrally with the utricule interface of resistance to super-pressure, and passes through the utricule interface of resistance to super-pressure and deep-sea The composite cabin of resistance to super-pressure connection；
The leather bag telescopic adjustment supporting mechanism includes front stretching bearing plate, resistance to super-pressure scaling quadrangle mould group, support Sleeve, support rod and rear bearing plate, front stretching bearing plate and rear bearing plate are separately positioned on the elastic compression leg of resistance to superelevation capsule utricule Both ends, resistance to super-pressure scaling quadrangle mould group are arranged between front stretching bearing plate and rear bearing plate；
The resistance to super-pressure scaling quadrangle mould group includes first leg, the second supporting leg, third supporting leg and the 4th supporting leg, the One end of one supporting leg and one end of the second supporting leg are hinged, and the other end of the second supporting leg is fixed on rear bearing plate, third supporting leg One end and one end of the 4th supporting leg are hinged, and the other end of the 4th supporting leg and one end of support rod connect, and the other end of support rod is solid It is scheduled on stop sleeve, first leg and third supporting leg arranged crosswise, and in the intermediate position and third supporting leg of first leg Between position it is hinged, the second supporting leg and the 4th supporting leg arranged crosswise, and the intermediate position of the second supporting leg and the 4th supporting leg Intermediate position is hinged；The end of first leg passes through pulley support component with the end of third supporting leg and connects pulley blocks Part is provided with the pulley track matched with pulley assembly in the side of front stretching bearing plate；When stop sleeve rotation, pass through Support rod drives the movement of the 4th supporting leg, then drives resistance to super-pressure scaling quadrangle mould group that expansion occurs or shrinks deformation, into And expansion or contraction sliding by pulley assembly in front stretching bearing plate top sheave track, drive front stretching bearing plate front and back It is mobile, it realizes extension and the contractile function of the scalable leather bag of resistance to super-pressure, realizes that the volume of the scalable leather bag of resistance to super-pressure is adjusted；
The reciprocating drive mechanism includes servo motor, level-one worm screw, first turbine, second-stage worm, two-stage turbine, output The output shaft of axle sleeve and channel shaft, servo motor is connect with level-one worm-drive, and level-one worm screw is meshed with first turbine, and two Grade worm screw is fixedly connected with the axle center of first turbine, and second-stage worm is meshed with two-stage turbine, and two-stage turbine passes through output sleeve It is connected with channel rotating shaft transmission, the stop sleeve is fixed in the shaft of channel.
Preferably, the elastic compression leg of the resistance to superelevation capsule utricule is arranged in the fold circle structural outer surface of each radial direction There is utricule outer rim component, the fold circle structure interior surface of each radial direction is provided with steel ring component in utricule；It is described Front stretching bearing plate is fixedly connected with steel ring component in the utricule of front end on the inside of the elastic compression leg of resistance to superelevation capsule utricule；Described first The hinge joint of the hinge joint of supporting leg and the second supporting leg, third supporting leg and the 4th supporting leg is longitudinally-hinged point, first leg and third The hinge joint of the hinge joint of supporting leg, the second supporting leg and the 4th supporting leg is to be laterally hinged with a little；The leather bag telescopic adjustment supporting mechanism It further include multiple resistance to super-pressure support diaphragms, resistance to super-pressure support diaphragm is evenly distributed in the elastic compression leg of resistance to superelevation capsule utricule On inner surface, the elastic compression leg of resistance to superelevation capsule utricule is scaled in quadrangle mould group wherein by diaphragm support column and resistance to super-pressure One is laterally hinged with and is a little fixedly connected.
Preferably, the deep-sea composite cabin of resistance to super-pressure includes the compound cabin of resistance to super-pressure, and the resistance to compound cabin of super-pressure is in Cylindrical shape is respectively arranged with preceding end cover and rear end cover at the both ends of the compound cabin of resistance to super-pressure, and close by end cap Seal sealing, fixed bracket is connected between preceding end cover and rear end cover, power supply is provided on rear end cover Watertight connector, main communication watertight connector, secondary communication watertight connector and operating mode configure watertight connector.
Preferably, any one high pressure resistant buoyancy self-calibration device among the above is configured to coordinator, remaining resistance to height Press buoyancy self-calibration device as node；The main communication watertight connector of the high pressure resistant buoyancy self-calibration device as coordinator is logical It crosses watertight cable to connect with the communication interface of underwater operation equipment or underwater robot, the high pressure resistant buoyancy as coordinator is marked certainly The secondary communication watertight connector for determining device connects with the main communication watertight connector of the high pressure resistant buoyancy self-calibration device as node respectively Connect, or the high pressure resistant buoyancy self-calibration device as coordinator secondary communication watertight connector and one of them as node it is resistance to The main communication watertight connector of high pressure buoyancy self-calibration device connects, which time leads to News watertight connector is connect with the main communication watertight connector of next high pressure resistant buoyancy self-calibration device as node again.
Preferably, the resistance to super-pressure scaling quadrangle mould group is arranged 4 altogether, and along the scalable leather bag of resistance to super-pressure Side border is uniformly distributed, and the corresponding support rod is also provided with 4, each support rod and one of them resistance to super-pressure scaling four 4th supporting leg of side shape mould group is correspondingly connected with, and one end of all support rods is each attached on stop sleeve.
Preferably, the high pressure resistant buoyancy self-calibration device further includes control mechanism, and control mechanism includes super low-power consumption list Piece machine, wide power conditioning and power supply module and DC servo motor driver, super low power consuming single chip processor respectively with main communication water Contiguity head, secondary communication watertight connector and operating mode configuration watertight connector connect, wide power conditioning and power supply module and power water Touch head connection, DC servo motor driver is connect with servo motor.
Preferably, the outside of the scalable leather bag of resistance to super-pressure is provided with protection shell, is provided on protection shell Inside and outside intercommunicating pore, protection shell are connect with the compound cabin of resistance to super-pressure.
The advantageous effects of the utility model are:
1. the thorough abandoning tradition of the utility model is used by the bulky drawback of oil circuit, high-pressure pump, high pressure valve etc. The scalable leather bag of resistance to super-pressure of advantages of compact and light structure cooperates leather bag telescopic adjustment supporting mechanism and large torque carrying self-locking past Multiple driving mechanism, realizes the autonomous trim function of buoyancy in ultra-deep sea hyperpressure, is suitble to 8000 meters or more depth works under water Make, is a kind of Quan Haishen operation corollary equipment.
It is band fold and is that cylindrical structure can not be high pressure resistant and in a depthkeeping 2. the utility model abandons existing outer leather bag Shape betides the different drawback in the vertical direction of expected fold under extra large pressure, devises in band utricule outer rim component and utricule The elastic compression leg of the resistance to superelevation capsule utricule of steel ring component, cooperates the high pressure resistant column capsule telescopic adjustment and supporting mechanism of original creation, mentions significantly High crushing resistance of the leather bag under super deep-marine-environment, has reached volume accurately adjustable function, has been finally reached the micro- adjusting of buoyancy With the purpose of micro- calibration.
3. the utility model is by setting two-stage turbine worm structure, before mechanical structure is simple and compact, cost reduces It puts, increases output torque, the volume of the deep-sea composite cabin of resistance to super-pressure is not only made to become smaller, but also ingenious worm gear snail is utilized The self-locking function of bar, when the high pressure resistant buoyancy self-calibration device of this set after hours, protected by worm gear structure self-locking function Holding force square, is greatly saved energy, for underwater operation equipment or underwater robot long voyage (when) lay a good foundation.
4. it is provided by the utility model it is a set of it is perfect with adaptive buoyancy micro-adjustment, it is micro- collecting and distributing with gentle micro- calibration System includes N number of high pressure resistant buoyancy self-calibration device, and any one high pressure resistant buoyancy self-calibration among the above is filled It sets, hardware composition is all the same, ensure that versatility.And it can be configured to coordinator or node by port, can fill respectively When coordinator and nodal function, guarantee the network topology structure of system, information transfer efficiency is higher.
5, this covering device can be widely applied to arbitrary underwater operation equipment or underwater robot, and application range is very Extensively, versatile.The utility model is applied in deepwater robot, can guarantee that its suffered buoyancy and gravity remain flat substantially always Weighing apparatus, the motion state for changing underwater robot at this time not only make control become simple, and can maintaining an equal level because of buoyancy and gravity Reason reduces propeller or provides the energy consumption of motion-promotion force equipment, greatly simplifies the cumbersome degree of control of underwater operation equipment, The electricity consumption for reducing underwater equipment, greatly prolongs the working time of underwater operation equipment, of far-reaching significance.
Detailed description of the invention
The utility model is described in detail with specific embodiment with reference to the accompanying drawing:
Fig. 1 is the whole schematic view of the front view of high pressure resistant buoyancy self-calibration device in the utility model；
Fig. 2 is that high pressure resistant buoyancy self-calibration device removes the whole main view after the compound cabin of resistance to super-pressure in the utility model Structural schematic diagram；
After Fig. 3 removes the compound cabin of resistance to super-pressure and gear-box for high pressure resistant buoyancy self-calibration device in the utility model Whole schematic view of the front view；
Fig. 4 is the whole right side structural representation of high pressure resistant buoyancy self-calibration device in the utility model；
Fig. 5 is the schematic view of the front view of sealing bolt in the utility model；
Fig. 6 is the whole vertical view that high pressure resistant buoyancy self-calibration device removes after the compound cabin of resistance to super-pressure in the utility model Structural schematic diagram；
After Fig. 7 removes the compound cabin of resistance to super-pressure and gear-box for high pressure resistant buoyancy self-calibration device in the utility model Whole overlooking structure diagram；
Fig. 8 is the schematic view of the front view of leather bag telescopic adjustment supporting mechanism in the utility model；
Fig. 9 is the right side structural representation of leather bag telescopic adjustment supporting mechanism in the utility model；
Figure 10 is that right after bearing plate change shows depending on structure after leather bag telescopic adjustment supporting mechanism removes in the utility model It is intended to；
Figure 11 be the utility model in leather bag telescopic adjustment supporting mechanism structural schematic diagram, mainly show stop sleeve, The attachment structure schematic diagram of support rod and resistance to super-pressure scaling quadrangle mould group；
Figure 12 is the schematic perspective view of leather bag telescopic adjustment supporting mechanism in the utility model；
Figure 13 mainly show quadrangle front support pulley assembly in the utility model leather bag telescopic adjustment supporting mechanism and The overlooking structure diagram of pulley support component；
Figure 14 mainly shows the supporting leg of quadrangle " X " bracket mould group in the utility model leather bag telescopic adjustment supporting mechanism Plan structure distribution schematic diagram；
Figure 15 show the utility model entirely under extra large deep water the autonomous trimming system of operating equipment buoyancy a kind of embodiment Structural schematic diagram.
Specific embodiment
In conjunction with attached drawing, the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water, which includes that several are resistance to High pressure buoyancy self-calibration device, the high pressure resistant buoyancy self-calibration device include that the deep-sea composite cabin of resistance to super-pressure 1, resistance to super-pressure can Flexible leather bag 2, leather bag telescopic adjustment supporting mechanism 3 and reciprocating drive mechanism 4.The scalable setting of leather bag 2 of resistance to super-pressure exists One end of the deep-sea composite cabin of resistance to super-pressure 1, leather bag telescopic adjustment supporting mechanism 3 are arranged in the scalable leather bag 2 of resistance to super-pressure Portion, leather bag telescopic adjustment supporting mechanism 3 are connect with reciprocating drive mechanism 4, and the setting of reciprocating drive mechanism 4 is multiple in the resistance to super-pressure in deep-sea Close the inside in cabin 1.
The scalable leather bag 2 of resistance to super-pressure includes the elastic compression leg of resistance to superelevation capsule utricule 201, the elastic compression leg of resistance to superelevation capsule capsule Body 201 is cylindrical structure, and the fold circle structure of multiple radial directions is presented in the elastic compression leg of resistance to superelevation capsule utricule surface, It is provided centrally with the utricule interface of resistance to super-pressure 202 in the side of the elastic compression leg of resistance to superelevation capsule utricule, and passes through the resistance to superelevation of the utricule Crimping mouth is connected to the deep-sea composite cabin of resistance to super-pressure 1.
The leather bag telescopic adjustment supporting mechanism 3 includes front stretching bearing plate 301, resistance to super-pressure scaling quadrangle mould group 303, stop sleeve 306, support rod 307 and rear bearing plate 310, front stretching bearing plate 301 and rear bearing plate 310 are separately positioned on The both ends of the elastic compression leg of resistance to superelevation capsule utricule 201, resistance to super-pressure scaling quadrangle mould group 303 setting is in front stretching bearing plate with after Between bearing plate.
The resistance to super-pressure scaling quadrangle mould group includes first leg 319, the second supporting leg 320, third supporting leg 321 and the One end of four supporting legs 322, one end of first leg and the second supporting leg is hinged, and the other end of the second supporting leg is fixed on rear bearing plate On 310, one end of one end of third supporting leg and the 4th supporting leg is hinged, and the other end of the 4th supporting leg and one end of support rod 307 connect It connects, the other end of support rod is fixed on stop sleeve 306.First leg and third supporting leg arranged crosswise, and first leg Intermediate position and the intermediate position of third supporting leg are hinged, the second supporting leg and the 4th supporting leg arranged crosswise, and the second supporting leg Intermediate position and the 4th supporting leg intermediate position it is hinged；The end of first leg and the end of third supporting leg pass through Pulley support component 312 connects pulley assembly 311, is provided in the side of front stretching bearing plate and matches with pulley assembly Pulley track 313.When stop sleeve rotation, the movement of the 4th supporting leg is driven by support rod, resistance to superelevation is then driven to compress It puts quadrangle mould group expansion occurs or shrinks deformation, and then passes through expansion of the pulley assembly in front stretching bearing plate top sheave track Sliding is opened or is shunk, drives front stretching bearing plate to be moved forward and backward, realizes extension and the contractile function of the scalable leather bag of resistance to super-pressure, Realize that the volume of the scalable leather bag of resistance to super-pressure is adjusted.Stop sleeve drives positive and negative rotation by reciprocating drive mechanism.
The reciprocating drive mechanism 4 include servo motor 401, level-one worm screw 403, first turbine 402, second-stage worm 404, The output shaft of two-stage turbine 405, output sleeve 408 and channel shaft 316, servo motor is connect with level-one worm-drive, level-one Worm screw is meshed with first turbine, and second-stage worm is fixedly connected with the axle center of first turbine, and second-stage worm is mutually nibbled with two-stage turbine It closes, two-stage turbine is connected by output sleeve with channel rotating shaft transmission, and the stop sleeve 306 is fixed in channel shaft 316. In the axis hole that is provided centrally with of stop sleeve, channel shaft is passed through from axis hole, convex block is provided in the shaft of channel, in axis hole On be provided with the groove matched with convex block, convex block is embedded in groove, to can drive stop sleeve when the rotation of channel shaft It rotates with it.Reciprocating drive mechanism carries out power transmitting using two-stage turbine worm structure, mechanical structure is simple and compact, cost Under the premise of reduction, output torque is increased, the volume of the deep-sea composite cabin of resistance to super-pressure is not only made to become smaller, but also ingenious utilization The self-locking function of worm and gear, when this set high pressure resistant buoyancy self-calibration device after hours, by worm gear structure from Lock function holding torque, is greatly saved energy, for underwater operation equipment or underwater robot long voyage (when) established base Plinth.
As the further design to the utility model, the elasticity compression leg of the resistance to superelevation capsule utricule is in each radial direction Fold circle structural outer surface is provided with utricule outer rim component 204, in the fold circle structure interior surface of each radial direction It is provided with steel ring component 205 in utricule.The capsule of front end on the inside of the front stretching bearing plate and the elastic compression leg of resistance to superelevation capsule utricule Internal steel ring component is fixedly connected.The hinge joint of the first leg and the second supporting leg, third supporting leg and the 4th supporting leg it is hinged Point is longitudinally-hinged point, and the hinge joint of the hinge joint of first leg and third supporting leg, the second supporting leg and the 4th supporting leg is lateral hinge Contact.The leather bag telescopic adjustment supporting mechanism further includes multiple resistance to super-pressure support diaphragms 302, and resistance to super-pressure supports diaphragm 302 are evenly distributed on the inner surface of the elastic compression leg of resistance to superelevation capsule utricule, and the elastic compression leg of resistance to superelevation capsule utricule passes through diaphragm Support column 304 is laterally hinged with one of them in resistance to super-pressure scaling quadrangle mould group and is a little fixedly connected.The utility model is set The elastic compression leg of the resistance to superelevation capsule utricule with steel ring component in utricule outer rim component and utricule has been counted, the high pressure resistant column of original creation is cooperated Capsule telescopic adjustment and supporting mechanism and the resistance to super-pressure support diaphragm that can increase forced area, substantially increase leather bag in ultra-deep Crushing resistance under extra large environment has reached volume accurately adjustable function, has been finally reached the purpose of buoyancy micro- adjusting and micro- calibration.
Further, the deep-sea composite cabin of resistance to super-pressure 1 includes the compound cabin 114 of resistance to super-pressure, and resistance to super-pressure is multiple It is cylindrical to close cabin, is respectively arranged with preceding end cover 101 and rear end cover at the both ends of the compound cabin of resistance to super-pressure 102, and sealed by end cap seal circle 107, fixed bracket 103 is connected between preceding end cover and rear end cover, Gu Fixed rack 103 includes several cross bars and vertical bar, whole structure cylindrical in shape.Power supply watertight is provided on rear end cover 102 Connector 109, main communication watertight connector 110, secondary communication watertight connector 111 and operating mode configure watertight connector 115.
Further, any one high pressure resistant buoyancy self-calibration device among the above is configured to coordinator, remaining is resistance to High pressure buoyancy self-calibration device is as node.The main communication watertight connector of the high pressure resistant buoyancy self-calibration device as coordinator It is connected by watertight cable with the communication interface of underwater operation equipment or underwater robot, the high pressure resistant buoyancy as coordinator is certainly The secondary communication watertight connector of the caliberating device main communication watertight connector with the high pressure resistant buoyancy self-calibration device as node respectively Connection；Or the secondary communication watertight connector of the high pressure resistant buoyancy self-calibration device as coordinator with as one of them of node The main communication watertight connector of high pressure resistant buoyancy self-calibration device connects, the high pressure resistant buoyancy self-calibration device as node it is secondary Communication watertight connector is connect with the main communication watertight connector of next high pressure resistant buoyancy self-calibration device as node again.Pass through Above-mentioned arrangement can be formed it is perfect there is adaptive buoyancy micro-adjustment, micro- distributing system with gentle micro- calibration, and can guarantee and be The network topology structure of system, information transfer efficiency are higher.While this trimming system can be widely applied to arbitrary underwater operation and set With standby or underwater robot, it is of wide application, is versatile.
Further, the resistance to super-pressure scaling quadrangle mould group is arranged 4 altogether, and along the scalable leather bag of resistance to super-pressure Inside border be uniformly distributed, the corresponding support rod is also provided with 4, each support rod and one of them resistance to superelevation are compressed The 4th supporting leg for putting quadrangle mould group is correspondingly connected with, and one end of all support rods is each attached on stop sleeve.Pass through branch in this way The rotation of support set cylinder can drive the synchronization expansion and contraction of multiple resistance to super-pressure scaling quadrangle mould groups, can further consolidate Front stretching bearing plate is driven to be moved forward and backward, it is ensured that the extension of the resistance to scalable leather bag of super-pressure and contractile function, while further mentioning Crushing resistance of the leather bag under super deep-marine-environment is risen.
Further, the high pressure resistant buoyancy self-calibration device further includes control mechanism 5, and control mechanism 5 includes ultralow function Consume single-chip microcontroller 501, wide power conditioning and power supply module 502 and DC servo motor driver 503, super low power consuming single chip processor 501 connect with main communication watertight connector 110, secondary communication watertight connector 111 and operating mode configuration watertight connector 115 respectively, wide Power supply conditioning and power supply module 502 are connect with power supply watertight connector 109, DC servo motor driver 503 and servo motor 401 Connection.
Further, the outside of the scalable leather bag of resistance to super-pressure is provided with protection shell 6, sets on protection shell It is equipped with inside and outside intercommunicating pore, protection shell is connect with the compound cabin of resistance to super-pressure.Protection shell can play scalable to resistance to super-pressure The protective effect of leather bag 2.
With reference to the accompanying drawing respectively in the utility model each component and working principle carry out more specific detail:
The autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water, including N number of high pressure resistant buoyancy self-calibration device, Each high pressure resistant buoyancy self-calibration device can be configured to coordinator or node.
For any one high pressure resistant buoyancy self-calibration device among the above, mechanically and electrically etc. structure compositions are homogeneous Together, comprising:
The scalable leather bag 2 of the deep-sea composite cabin of resistance to super-pressure 1, resistance to super-pressure, leather bag telescopic adjustment supporting mechanism 3, reciprocal drive Motivation structure 4 and control mechanism 5.
Specifically, the deep-sea composite cabin of resistance to super-pressure 1 is columnar structured, comprising: preceding end cover 101, rear sealing End cap 102, fixed bracket 103, preceding stretching disk 104, fixing bolt 105, sealing bolt 106, end cap seal circle 107, bolt Sealing ring 108, power supply watertight connector 109, main communication watertight connector 110, secondary communication watertight connector 111, the fixed open-work of end cap 112, end cap leather bag connectivity port 113, the compound cabin 114 of resistance to super-pressure, operating mode configuration watertight connector 115, post-tensioning circle Disk 116.
The preceding end cover 101 is round entity structure, with the deep-sea compound storehouse of resistance to super-pressure by axial and Radial direction seal ring seals, and is both provided with end cap seal circle 107 at transverse sealing and radial seal.End cap is additionally provided with simultaneously to fix With open-work 112, for being connected and fixed by the fixed bracket 103 of tubular and rear end cover 102.
Similar with preceding end cover 101, the rear end cover 102 is also disc structure, with the resistance to superelevation in deep-sea It presses compound storehouse to seal by axially and radially sealing ring, is both provided with end cap seal circle 107 at transverse sealing and radial seal.Separately Outside, rear end cover 102 is additionally provided with power supply watertight connector 109, main communication watertight connector 110, secondary 111 and of communication watertight connector Operating mode configures watertight connector 115.Equally, be additionally provided with the fixed open-work 112 of end cap, for by the fixed bracket of tubular with Preceding end cover 101 is connected and fixed.
The fixed bracket of tubular is fixed in the deep-sea composite cabin of resistance to super-pressure 1, is used as modules and machine in storehouse The fixed carrier of tool mechanism installation；Meanwhile preceding end cover 101 and rear end cover 102 pass through fixed 103 phase of bracket of the tubular It mutually tenses, prevents from loosening and cause poorly sealed phenomenon.
Disk 104 is stretched before described and post-tensioning disk 116 is a pair, matches, it is solid to be fixed on tubular respectively The front and rear sides of fixed rack 103, and it is fixed with the fixed bracket 103 of tubular.Effect are as follows: pass through preceding end cover 101 and rear sealing Fixation open-work 112 on 102 end cap of end cap passes through fixing bolt 105, by preceding end cover 101, rear end cover 102, cylinder Shape fixes bracket 103, preceding stretching disk 104, the compound cabin 114 of resistance to super-pressure and post-tensioning disk 116 and is fixed together.
As described above, the effect of fixing bolt 105 is by preceding end cover 101, rear end cover 102, the fixed branch of tubular Frame 103, preceding stretching disk 104, the compound cabin 114 of resistance to super-pressure and post-tensioning disk 116 are fixed together.
Due to being provided with the fixed open-work 112 of end cap on preceding end cover 101 and rear end cover 102, for placing Fixing bolt 105, after fixing bolt 105 enters position, it is also necessary to by the end cap on preceding end cover 101 and rear end cover 102 Fixation sealed tightly with open-work 112, therefore here by use sealing bolt 106 realization the function.Moreover, in order to adapt to superelevation Deep-marine-environment is pressed, prevents seawater from penetrating into and corroding, bolt seal circle 108 is also set up on sealing bolt 106, with the preceding sealing End cap 101 is identical with the sealing mechanism on rear end cover 102, be all made of axially and radially sealing ring sealing, transverse sealing and Bolt seal circle 108 is both provided at radial seal.
The position of opening at preceding 101 center of end cover is arranged in end cap leather bag connectivity port 113, for connect and The scalable leather bag 2 of resistance to super-pressure is sealed, is acted on as the scalable leather bag 2 of resistance to super-pressure to be connected to the deep-sea composite cabin of resistance to super-pressure 1 It is integrated.
The compound cabin 114 of resistance to super-pressure is the hollow cylinder structure with a thickness of 10mm, in order to reduce weight and volume, It is formed using carbon fiber according to topological structure composite winding, 8000 meters of pressure resistance or more.Ultra-deep sea and supervoltage sea water in order to prevent Seawater under environment penetrates into and erosion problem, matches in hollow cylinder two end faces and preceding end cover 101 and rear end cover 102 At conjunction, the endface of contact is polished into smoothing processing.
The power supply watertight connector 109 is watertight connector form, to be powered by external power supply or other have The underwater module of function is powered it.
The main communication watertight connector 110, secondary communication watertight connector 111, operating mode configuration watertight connector 115 and logical confession Electric watertight connector 109 is identical, is watertight structure form, can will among the above by configuration work pattern configurations watertight connector 115 Any one high pressure resistant buoyancy self-calibration device be configured to coordinator or node, concrete configuration method and mode are as follows:
1. the high pressure resistant buoyancy self-calibration fills at this time when operating mode configuration watertight connector 115 is configured as coordinator The main communication watertight connector 110 set needs to connect by watertight cable with the communication interface of underwater operation equipment or underwater robot, The high pressure resistant buoyancy self-calibration device is equivalent to a coordinator.
2. being left all high pressure resistant buoyancy self-calibration devices to be both needed to be configured to save by operating mode configuration watertight connector 115 Point is equivalent to multiple nodes；And underwater operation equipment or underwater robot then act as main controller role in whole system.This When high pressure resistant buoyancy self-calibration device secondary communication watertight connector 111 then by watertight cable and be left all to be configured as node High pressure resistant buoyancy self-calibration device main communication watertight connector 110 and time communication watertight connector 111 be sequentially connected respectively.Specifically Link relationship is as follows:
1. underwater operation equipment (underwater robot) PORT COM → watertight cable → is configured as the high pressure resistant floating of coordinator The main communication watertight connector 110 of power self-calibration device；
2. being configured as 111 → watertight of secondary communication watertight connector cable → quilt of the high pressure resistant buoyancy self-calibration device of coordinator It is configured to the main communication watertight connector 110 of the high pressure resistant buoyancy self-calibration device of node；
3. being configured as the secondary communication watertight connector 111 of the high pressure resistant buoyancy self-calibration device of node → be configured as node High pressure resistant buoyancy self-calibration device main communication watertight connector 110；
4. being configured as the secondary communication watertight connector 111 of the high pressure resistant buoyancy self-calibration device of node → be configured as node High pressure resistant buoyancy self-calibration device main communication watertight connector 110；
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It is configured as the secondary communication watertight connector 111 of the high pressure resistant buoyancy self-calibration device of node → be configured as node High pressure resistant buoyancy self-calibration device main communication watertight connector 110.
The scalable leather bag 2 of resistance to super-pressure includes: the elastic compression leg of resistance to superelevation capsule utricule 201, the utricule interface of resistance to super-pressure 202, utricule inner support frame 203, utricule outer rim component 204, steel ring component 205 in utricule.
The elasticity compression leg of the resistance to superelevation capsule utricule 201 is cylindrical structure, and material is nitrile rubber, is resistant to underwater 2000 meters High pressure；Meanwhile elastic 201 surface of the compression leg of resistance to superelevation capsule utricule is multiple fold circle structures, and along the cylindrical body knot The radial direction of structure, facilitates its elastic and when being retractable to some position, shape remain cylindrical structure and Random deformation does not occur, facilitates shape control.
Here, in order to guarantee intensity of the high pressure resistant column capsule utricule of elasticity with pleated structure under Deep-sea high voltage, also The fold circle structural outer surface of each radial direction can be provided with utricule outer rim component 204, in each radial direction Fold circle structure interior surface be provided with steel ring component 205 in utricule.The cylindrical structure elasticity compression leg of resistance to superelevation capsule utricule 201 For all-sealed structure, bottom surface circular central is provided with aperture, places the utricule interface of resistance to super-pressure 202, and the resistance to super-pressure of elasticity It is sealed at 202 sealing of tapping and the utricule interface of resistance to super-pressure of column capsule utricule 201 using nitrile rubber, and external use Western card polyurethane adhesive/sealant, prevents under Deep-sea high voltage, and seawater penetrates into from the tapping or even destroys the resistance to super-pressure can Flexible leather bag 2.The utricule interface of resistance to super-pressure 202 is cylindrical ring structure, cylinder ring outside and the elastic compression leg of resistance to superelevation capsule capsule Body 201 is glued, and connect on the inside of annulus with the preceding end cover 101 of the deep-sea composite cabin of resistance to super-pressure 1, and be provided with axial seal And radial seal.In the inside of the elastic compression leg of resistance to superelevation capsule utricule 201, it is provided with utricule inner support frame 203, facilitates leather bag flexible Supporting mechanism 3 etc. is adjusted to connect and fix inside the elastic compression leg of resistance to superelevation capsule utricule 201.
The leather bag telescopic adjustment supporting mechanism 3 includes: front stretching bearing plate 301, resistance to super-pressure support diaphragm unit 302, resistance to super-pressure scales quadrangle mould group 303, diaphragm support column 304, quadrangle mould group bearing, stop sleeve 306, support rod 307, stop sleeve connection column casing, quadrangle mould group bearing stabilizer blade, rear bearing plate 310, quadrangle front support pulley assembly 311, Pulley support component 312, channel bearing 315, channel shaft 316, lateral axis joint 317, is indulged front stretching bearing plate pulley track To axis joint 318, first leg 319, the second supporting leg 320, third supporting leg 321, the 4th supporting leg 322.
The front stretching bearing plate 301 is circular configuration, and material is 316 stainless steel materials, and circular internal diameter is more resistance to than elasticity Superelevation compression leg capsule 201 cross diameters of utricule are slightly smaller, and in the utricule of elastic 201 inside front end of the compression leg of resistance to superelevation capsule utricule Steel ring component 205 is connected and fixed.Effect are as follows: 1. enhance the compression strength of elastic 201 front end of the compression leg of resistance to superelevation capsule utricule；2. connecting It connects and fixes front stretching bearing plate pulley track.
The resistance to super-pressure support diaphragm unit 302 be it is multiple, shape be strip it is rectangular with certain spring function The pressuring film plate of resistance to superelevation is evenly distributed on the inner surface of the elastic compression leg of resistance to superelevation capsule utricule 201, only connects with inner surface Touching；Also, diaphragm is also connected and fixed with the diaphragm support column 304 in the resistance to scalable leather bag 2 of super-pressure.Effect are as follows: described Resistance to super-pressure support diaphragm unit 302 moves, and steel ring component 205 can be driven in utricule along the elastic compression leg of resistance to superelevation capsule utricule 201 Generatrix direction move forward and backward, realize the fine tuning of elastic 201 volume of the compression leg of resistance to superelevation capsule utricule.
The resistance to super-pressure scaling quadrangle mould group 303 is parallelogram sturcutre, extending and shortening, and is had multiple Quadrilateral structure is spliced, and forms hat rack structure, realizes integral telescopic function.Movable resistance to super-pressure scales four sides above Totally 4 sets of shape mould group 303, it is evenly distributed on the inside of the elastic compression leg of resistance to superelevation capsule utricule 201, direction and the elastic compression leg of resistance to superelevation capsule The generatrix direction of utricule 201 is consistent, and close with the elastic compression leg of resistance to superelevation capsule utricule 201.In addition, scaling four in resistance to super-pressure On each parallelogram sturcutre of side shape mould group 303, two longitudinal directions with two lateral axis joints 317 and longitudinal direction in transverse direction Axis joint 318.
Meanwhile in order to describe later conveniently, now combine to the quadrilateral structure in every two quadrangle mould group 303, The supporting leg with two longitudinal axis joints 318 for line of demarcation is removed, the remaining movable structure for " X " row includes four supporting legs. As shown in figure 14, started with the upper left corner, be counterclockwise positive, four supporting legs are respectively designated as: quadrangle " X " bracket mould group No. 1 supporting leg, No. 2 supporting legs of quadrangle " X " bracket mould group, No. 3 supporting legs of quadrangle " X " bracket mould group, quadrangle " X " bracket mould group 4 Number supporting leg.
Wherein, the quadrangle of parallelogram sturcutre locating for every set resistance to super-pressure scaling 303 front end of quadrangle mould group On No. 1 supporting leg of " X " bracket mould group and quadrangle " X " bracket mould No. 2 supporting legs of group, it is provided with pulley support component 312, amounts to 8 It is a；And each pulley support component 312 is respectively provided with a quadrangle front support pulley assembly 311, quadrangle front support pulley Component 311 is eventually placed on the pulley track on the inside of front stretching bearing plate.Effect are as follows: resistance to super-pressure scales quadrangle mould group 303 when occurring expansion or shrinking deformation, No. 1 supporting leg of quadrangle " X " bracket mould group and quadrangle " X " bracket mould No. 2 branch of group at this time The variation of the distance between leg and No. 3 supporting legs of quadrangle " X " bracket mould group and quadrangle " X " bracket mould No. 4 supporting legs of group, at this time Pulley support component 312 is provided on No. 1 supporting leg of quadrangle " X " bracket mould group and quadrangle " X " bracket mould No. 2 supporting legs of group to open Begin to expand or shrink on front stretching bearing plate pulley track 313 (since oil sac itself is shorter, to have pleated structure, have back Contracting function) sliding, it is final realize to front stretching bearing plate 301 after but extension and the contraction work of the scalable leather bag 2 of resistance to super-pressure Can, realize the volume regulatory function of the scalable leather bag 2 of resistance to super-pressure.
The diaphragm support column 304 is cylindrical ring structure, and the number of diaphragm unit 302 is also supported for multiple and resistance to super-pressure Amount is consistent, is fixed on the inner surface center position of the resistance to super-pressure support diaphragm unit 302, it is resistance to super that elasticity is directed toward in direction 201 medial center line of high-pressure column capsule utricule, function are as follows: one end connects resistance to super-pressure and supports diaphragm unit 302, and other end connection is solid Determine quadrangle mould group bearing.It should be noted that the diaphragm support column 304 is fixed on resistance to super-pressure scaling quadrangle mould In the lateral axis joint 317 of two of group 303.
As described above, the two lateral axis joints 317 and two longitudinal axis joints of resistance to super-pressure scaling quadrangle mould group 303 At 318, in order to realize the rotation between supporting leg, it is respectively provided with quadrangle mould group bearing 305.The resistance to super-pressure scales quadrangle Diaphragm support column 304 is connected and fixed on the upside of mould group 303, downside is connected and fixed quadrangle mould group bearing stabilizer blade 309.
The stop sleeve 306 is circular ring structure, is provided with open-work above, and quadrangle frame stop sleeve diameter is about elasticity The 1/4 of 201 diameter of the compression leg of resistance to superelevation capsule utricule.The center at the center of stop sleeve 306 and the elastic compression leg of resistance to superelevation capsule utricule 201 It is overlapped and consistent.The effect of open-work are as follows: facilitate being inserted and fixed for 307 other end of support rod.
A lateral axis joint 317 on the parallelogram sturcutre backmost of resistance to super-pressure scaling quadrangle mould group 303 With quadrangle " X " bracket mould No. 3 supporting legs of group (totally four supporting legs) locating for a longitudinal axis joint 318 with rear bearing plate 310 (totally four position/tie points) is connected and is fixed.
The support rod 307 is long thin cylindrical structure, and as described above, one end is connected and fixed resistance to super-pressure and scales four sides Mould group bearing stabilizer blade 309 where the lateral axis joint 317 of some of shape mould group 303, the other end are connected and fixed the support of quadrangle frame Open-work on bar 307.
The stop sleeve connection column casing is cylindrical structure, annulus of the diameter than the quadrangle frame stop sleeve 306 Diameter is slightly thin, and length is through to rear bearing plate 310 from front stretching bearing plate 301.Front end, rear end and intermediate and each quadrangle frame It is connected and fixed on the inside of stop sleeve 306, so that each quadrangle frame stop sleeve 306 one entirety of formation, but each four side The translation of relative position by its interference and does not influence between shape frame stop sleeve 306.
Bearing plate 310 is hollow disc structure after described, and the diameter that annular diameters connect column casing with stop sleeve is consistent, but More slightly larger than stop sleeve and channel shaft 316, sleeve easy to support and channel shaft 316 rotate.Effect are as follows: 1. enhancing elasticity is resistance to The compression strength of 201 rearmost end of superelevation compression leg capsule utricule；2. connecting and fixing stop sleeve connection column casing, so that each quadrangle Frame stop sleeve 306 forms an entirety, and column casing sliding can be connected around stop sleeve.
The stop sleeve 306 is ring mechanism, and internal diameter is identical as channel shaft 316, and channel shaft 316 is inserted in the support In sleeve.Function are as follows: by the rotation of channel shaft 316, and then stop sleeve 306 is driven to rotate.
The support rod 307 be the strip connecting shaft piece with certain radian, quantity be it is multiple, with resistance to super-pressure scale The quantity of the 4th supporting leg 322 of quadrangle " X " bracket mould group in quadrangle mould group 303 is consistent, and totally 4.Each support rod 307 End with connect at equidistant four positions of the outer ring of stop sleeve and fixed, head end is then respectively and resistance to superelevation compression among the above The 4th supporting leg 322 of quadrangle " X " bracket mould group put in quadrangle mould group 303 is connected and fixed.Function are as follows: pass through support rod 307 Stop sleeve 306 and the 4th supporting leg 322 of quadrangle " X " bracket mould group are connected, realize linkage or servo-actuated effect.
The channel bearing 315 is the diameter bearing slightly thicker than channel shaft 316, and it is resistance to that outside is fixed on the deep-sea At end cap leather bag connectivity port 113 in super-pressure composite cabin 1, inside installation settings has channel shaft 316.Function are as follows: 1. Through the deep-sea composite cabin of resistance to super-pressure 1 and the scalable leather bag 2 of resistance to super-pressure；2. realizing channel shaft 316 inside it Rotation is channel and the carrier of large torque transmitting.
The channel shaft 316 is large torque shaft, and 316 stainless steel materials, the input terminal connection large torque carrying is certainly Output sleeve 408 in locking-type reciprocating drive mechanism；Output end connects stop sleeve；Intermediate ends are by channel bearing 315.
The effect that above-mentioned leather bag telescopic adjustment supporting mechanism 3 works are as follows:
1. stop sleeve 306 is driven by channel shaft 316 and rotates forward, stop sleeve 306 drives resistance to superelevation by support rod 307 Compression puts quadrangle " X " the bracket mould group the 4th 322 in quadrangle mould group 303 and rotates forward (bearing plate 310 is positive mobile after), Since quadrangle " X " bracket mould group third supporting leg 321 in resistance to super-pressure scaling quadrangle mould group 303 is by rear bearing plate 310 fix；Therefore, the 4th supporting leg 322 of quadrangle " X " bracket mould group and 321 phase of quadrangle " X " bracket mould group third supporting leg It adjusts the distance reduction, two lateral axis joints 317 of resistance to super-pressure scaling quadrangle mould group 303 are apart from increase, and two longitudinal axis Joint 318 is apart from reduction；Resistance to super-pressure scaling 303 length of quadrangle mould group increases, and is hereafter connected to two longitudinal axis joints Quadrangle front support pulley assembly on 318 starts diffusion front stretching bearing plate pulley track 313, then diffusion front stretching pressure-bearing Plate 301 finally makes the elastic compression leg of the resistance to superelevation capsule utricule 201 of the scalable leather bag 2 of resistance to super-pressure start to extend, fold circle Structure starts to unfold, and volume increases, it may be assumed that realizes that buoyancy increases function.
It is 1. synchronous with effect: due to the elongation of the elastic compression leg of resistance to superelevation capsule utricule 201, outside each utricule above The distance between steel ring component 204 elongates, while the distance of steel ring component 205 is also elongated in each utricule.Due to steel in utricule Coil assembly 205 is connect with resistance to super-pressure support diaphragm unit 302, resistance to super-pressure support diaphragm unit 302 and diaphragm support column 304 Connection, diaphragm support column 304 and quadrangle mould group bearing 305, and then with quadrangle mould group bearing stabilizer blade 309, support rod 307 and Stop sleeve 306 connects, and it is opposite to realize steel ring component 205 in integrated support and utricule to the scalable leather bag of resistance to super-pressure 2 The synchronizing moving of resistance to super-pressure scaling quadrangle mould group 303, and also pass through the mechanical connection relational implementation resistance to super-pressure of enhancing The effect of intensity of scalable leather bag 2, raising deep-sea compressive performance.
2. opposite, stop sleeve 306 is driven by channel shaft 316 and inverts, and stop sleeve 306 passes through 307 band of support rod Move the 4th supporting leg 322 of quadrangle " X " bracket mould group reversion (the relatively rear bearing plate in resistance to super-pressure scaling quadrangle mould group 303 310 reverse movements), due to quadrangle " X " bracket mould group third supporting leg 321 in resistance to super-pressure scaling quadrangle mould group 303 Through by after bearing plate 310 fix；Therefore, the 4th supporting leg 322 of quadrangle " X " bracket mould group and quadrangle " X " bracket mould group the Three supporting legs, 321 relative distance expands, and resistance to super-pressure scales two lateral axis joints 317 of quadrangle mould group 303 apart from reduction, and Two longitudinal axis joints 318 are apart from increase；Resistance to super-pressure scaling 303 length of quadrangle mould group reduces, and is hereafter connected to two and indulges Quadrangle front support pulley assembly in axis joint 318 starts to transport along the direction that front stretching bearing plate pulley track 313 bounces back (since oil sac is by ambient pressure, and itself is shorter, has pleated structure, has retraction function) is moved, then front stretching pressure-bearing 310 direction of bearing plate moves plate 301 backward, finally makes the elastic compression leg of the resistance to superelevation capsule utricule of the scalable leather bag 2 of resistance to super-pressure 201 start to shorten, and fold circle structure starts to tighten, and volume becomes smaller, it may be assumed that realize that buoyancy reduces function.
It is similar, 2. synchronous with effect: due to the shortening of the elastic compression leg of resistance to superelevation capsule utricule 201, above every The distance between a utricule outer rim component 204 shortens, while the distance of steel ring component 205 also shortens in each utricule.Due to Steel ring component 205 is connect with resistance to super-pressure support diaphragm unit 302 in utricule, resistance to super-pressure support diaphragm unit 302 and diaphragm Support column 304 connects, diaphragm support column 304 and quadrangle mould group bearing 305, so with quadrangle mould group bearing stabilizer blade 309, branch Strut 307 and stop sleeve 306 connect, and realize steel ring group in integrated support and utricule to the scalable leather bag of resistance to super-pressure 2 The synchronizing moving of the relatively resistance to super-pressure scaling quadrangle mould group 303 of part 205, and also pass through the increasing of mechanical connection relational implementation The effect of intensity of the strong resistance to scalable leather bag 2 of super-pressure, raising deep-sea compressive performance.
The reciprocating drive mechanism 4 includes: servo motor 401, first turbine 402, level-one worm screw 403, second-stage worm 404, two-stage turbine 405, gear-box 406, carrying ontology 407, output sleeve 408.
The servo motor 401 is fixed on the fixed bracket 103 of tubular, the output shaft and level-one of servo motor 401 Worm screw 403 connects, and first turbine 402 and level-one worm screw 403 match, and direction is vertical direction；Second-stage worm 404 also with The axis connection and fixation, second-stage worm 404 and two-stage turbine 405 of first turbine 402 are used cooperatively.First turbine among the above 402, the bearing of level-one worm screw 403, second-stage worm 404 and two-stage turbine 405 is all set on carrying ontology 407, is arranged above There is gear-box 406 to carry out the protection and shielding of powered rotation part.Two-stage turbine 405 is also connect with output sleeve 408.It is described defeated Axle sleeve 408 is also rigidly connected with the front end of two-stage turbine 405 out, can drive output shaft indirectly by the movement of two-stage turbine 405 Set 408 is mobile.
The working effect of large torque carrying self-locking reciprocating drive mechanism among the above are as follows:
1. servo motor 401 rotates forward, level-one worm screw 403 is driven to rotate forward, level-one is caused by turbine and the meshing relation of worm screw Turbine 402 rotates forward, and second-stage worm 404 also rotates forward, and two-stage turbine 405 starts to rotate forward, and then output sleeve 408 is driven to rotate forward, most Channel shaft 316 is driven to rotate forward eventually.
2. opposite, servo motor 401 is inverted, and is driven level-one worm screw 403 to invert, is passed through the meshing relation of turbine and worm screw First turbine 402 is caused to invert, second-stage worm 404 also inverts, and two-stage turbine 405 starts to invert, and then drives output sleeve 408 Reversion, it is final that channel shaft 316 is driven to invert.
The control mechanism 5 includes: super low power consuming single chip processor 501, wide power conditioning and power supply module 502, DC servo Motor driver 503.
The super low power consuming single chip processor 501 selects the single-chip microcontroller of MSP430F149 controller or more low-power consumption, to obtain Lower energy consumption；And building two-ply is control panel, is the control core of system, the super low power consuming single chip processor 501 also passes through Cable configures watertight connector 115 etc. and connect with main communication watertight connector 110, secondary communication watertight connector 111, operating mode, is used for Reception, processing and the transmission of signal.
The wide power conditioning and power supply module 502 provide conversion and power supply of power supply etc. and the confession for whole system Electric watertight connector 109 connects, for receiving the power supply power supply from underwater operation equipment or underwater robot.The DC servo Motor driver 503 is the driver of servo motor 401, and the faint control signal of super low power consuming single chip processor 501 is parsed And amplification, it realizes the driving to motor, realizes the positive and negative rotation movement of servo motor 401.
Further, the buoyancy of resistance to super-pressure self-calibration device can be configured to coordinator or node each of among the above, but It is to have in a set of underwater operation equipment or underwater robot with master control function and can only have the buoyancy of resistance to super-pressure certainly Caliberating device (UHPBSM) can be configured to coordinator (Coordinator)；Certainly, the quantity of node (Node) is not limited.
Further, large torque carries self-locking reciprocating drive mechanism among the above, has three using two-stage turbine worm structure A function:
1. use worm gear structure, mechanical structure is as simple as possible, compact under the premise of, promoted pass as far as possible Dynamic ratio, to increase output torque.Since this covering device main advantage is to apply in ultra-deep sea field, two-stage worm gear is used Worm structure can further increase transmission ratio, greatly improve output torque to adapt to hyperpressure environment.
2. by the output shaft of motor and output shaft verticalization after first-stage worm gear worm screw, by second-stage worm gear worm screw knot The output shaft of structure and motor output shaft parallelization reduce the diameter of the deep-sea composite cabin of resistance to super-pressure as far as possible, further reduce this The volume of mechanism is conducive to the application range for improving mechanism.
3. worm and gear has self-locking function, when the high pressure resistant buoyancy self-calibration device of this set after hours, be not required to electric current Torque motor works on holding torque, but by worm gear structure self-locking function holding torque, save energy.And By second-stage worm gear worm structure, self-lock ability can be more further enhanced, it is ensured that under ultra-high voltage environment, after the autonomous trim of buoyancy Position will not with ambient pressure change and change.
The micro- calibration buoyancy of I, increases step:
Step1: the rotating forward of the driving drive servo motor 401 of DC servo motor driver 503 of super low power consuming single chip processor 501 → 403 rotating forwards of level-one worm screw → 402 rotating forwards of first turbine → 404 rotating forwards of second-stage worm → 405 rotating forwards of two-stage turbine → output sleeve 408 rotate forward.
Step2: 408 rotating forwards of output sleeve → channel 316 rotating forwards of shaft → 306 rotating forwards of stop sleeve → support rod, 307 band Move the 4th supporting leg 322 of quadrangle " X " bracket mould group rotating forward → relatively rear bearing plate in resistance to super-pressure scaling quadrangle mould group 303 310 positive the 4th supporting legs 322 of movement → quadrangle " X " bracket mould group are opposite with quadrangle " X " bracket mould group third supporting leg 321 Two lateral axis joints 317 of distance reduction → resistance to super-pressure scaling quadrangle mould group 303 are closed apart from → two longitudinal axis are increased Before 318 distance reduction of section → resistance to super-pressure scaling 303 length increase of quadrangle mould group → quadrangle front support pulley assembly diffusion The resistance to super-pressure of bearing plate pulley track 313 → diffusion front stretching bearing plate 301 → resistance to super-pressure scalable leather bag 2 elasticity of stretching 201 elongations of column capsule utricule → fold circle structure unfolds → volume increase → buoyancy increase.
The micro- calibration buoyancy of II, reduces step:
Step1: the reversion of the driving drive servo motor 401 of DC servo motor driver 503 of super low power consuming single chip processor 501 → 403 reversions of level-one worm screw → 402 reversions of first turbine → 404 reversions of second-stage worm → 405 reversions of two-stage turbine → output sleeve 408 reversions.
Step2: 408 reversions of output sleeve → channel 316 reversions of shaft → 313 reversions of bearing plate change → change branch fastener Component 314 drives the 4th 322 reversions of supporting leg of quadrangle " X " bracket mould group → phase in resistance to super-pressure scaling quadrangle mould group 303 To rear the 4th supporting leg 322 of 310 reverse movements of bearing plate → quadrangle " X " bracket mould group and quadrangle " X " bracket mould group third branch 321 relative distance of leg expansion → resistance to super-pressure scaling quadrangle mould group 303, two lateral axis joints 317 are apart from reduction → two Longitudinal axis joint 318 scales 303 length reduction of quadrangle mould group → quadrangle front support pulley blocks apart from increase → resistance to super-pressure Part tightens front stretching bearing plate pulley track 313 → deflation front stretching bearing plate 301 → resistance to super-pressure scalable leather bag 2 elasticity 201 shortenings of the compression leg of resistance to superelevation capsule utricule → fold circle structure deflation → volume reduction → buoyancy reduces.
Further, the utility model is directed to the mechanism and method of the autonomous trimming system of buoyancy, it is also proposed that corresponding to increase The structures and methods of strong resistance to scalable 2 anti-pressure ability of leather bag of super-pressure:
Due to the shortening of the elastic compression leg of resistance to superelevation capsule utricule 201, between each utricule outer rim component 204 above Distance Shortened, while the distance of steel ring component 205 also shortens in each utricule.Due to steel ring component 205 in utricule and resistance to super High pressure supports diaphragm unit 302 to connect, and resistance to super-pressure support diaphragm unit 302 is connect with diaphragm support column 304, diaphragm support column 304 with quadrangle mould group bearing 305, and then with quadrangle mould group bearing stabilizer blade 309, quadrangle frame support rod 307 and quadrangle Frame stop sleeve 306 connects, and realizes 205 phase of steel ring component in integrated support and utricule to the scalable leather bag of resistance to super-pressure 2 To the synchronizing moving of resistance to super-pressure scaling quadrangle mould group 303, and also pass through the mechanical connection relational implementation resistance to superelevation of enhancing The effect of pressing the intensity of scalable leather bag 2, improving deep-sea compressive performance.
It takes or uses for reference prior art and can be realized in the part that do not addressed in aforesaid way.
It should be noted that above-described embodiment simply to illustrate that the utility model technical thought and feature, purpose It is that technical staff can understand the content of the utility model and method and can smoothly implement, is not intended to limit the utility model Protection scope.All equivalent change or modifications made according to the content of the present invention, all cover the protection in the utility model In range.

Claims (7)

1. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water, it is characterised in that: the system includes that several are resistance to High pressure buoyancy self-calibration device, the high pressure resistant buoyancy self-calibration device include that the deep-sea composite cabin of resistance to super-pressure, resistance to super-pressure can Flexible leather bag, leather bag telescopic adjustment supporting mechanism and reciprocating drive mechanism；
One end of the deep-sea composite cabin of resistance to super-pressure, leather bag telescopic adjustment supporting mechanism is arranged in the scalable leather bag of resistance to super-pressure The inside of the scalable leather bag of resistance to super-pressure is set, and leather bag telescopic adjustment supporting mechanism is connect with reciprocating drive mechanism, reciprocal to drive The inside of the deep-sea composite cabin of resistance to super-pressure is arranged in motivation structure；
The scalable leather bag of resistance to super-pressure includes the elastic compression leg of resistance to superelevation capsule utricule, and the elastic compression leg of resistance to superelevation capsule utricule is cylinder Body structure, and the fold circle structure of multiple radial directions is presented in the elastic compression leg of resistance to superelevation capsule utricule surface, in the resistance to superelevation of elasticity The side of compression leg capsule utricule is provided centrally with the utricule interface of resistance to super-pressure, and resistance to super by the utricule interface of resistance to super-pressure and deep-sea The connection of high pressure composite cabin；
The leather bag telescopic adjustment supporting mechanism include front stretching bearing plate, resistance to super-pressure scaling quadrangle mould group, stop sleeve, Support rod and rear bearing plate, front stretching bearing plate and rear bearing plate are separately positioned on the both ends of the elastic compression leg of resistance to superelevation capsule utricule, Resistance to super-pressure scaling quadrangle mould group is arranged between front stretching bearing plate and rear bearing plate；
The resistance to super-pressure scaling quadrangle mould group includes first leg, the second supporting leg, third supporting leg and the 4th supporting leg, and first One end of leg and one end of the second supporting leg are hinged, and the other end of the second supporting leg is fixed on rear bearing plate, one end of third supporting leg Hinged with one end of the 4th supporting leg, the other end of the 4th supporting leg and one end of support rod connect, and the other end of support rod is fixed on On stop sleeve, first leg and third supporting leg arranged crosswise, and the middle part at the intermediate position of first leg and third supporting leg Position hinged, the second supporting leg and the 4th supporting leg arranged crosswise, and the centre at the intermediate position of the second supporting leg and the 4th supporting leg Position is hinged；The end of first leg passes through pulley support component with the end of third supporting leg and connects pulley assembly, The pulley track matched with pulley assembly is provided in the side of front stretching bearing plate；When stop sleeve rotation, pass through branch Strut drives the movement of the 4th supporting leg, then drives resistance to super-pressure scaling quadrangle mould group that expansion occurs or shrinks deformation, in turn By expansion or contraction sliding of the pulley assembly in front stretching bearing plate top sheave track, shifting before and after front stretching bearing plate is driven It is dynamic, it realizes extension and the contractile function of the scalable leather bag of resistance to super-pressure, realizes that the volume of the scalable leather bag of resistance to super-pressure is adjusted；
The reciprocating drive mechanism includes servo motor, level-one worm screw, first turbine, second-stage worm, two-stage turbine, output sleeve It is connect with the output shaft of channel shaft, servo motor with level-one worm-drive, level-one worm screw is meshed with first turbine, second level snail Bar is fixedly connected with the axle center of first turbine, and second-stage worm is meshed with two-stage turbine, and two-stage turbine is by output sleeve and leads to The connection of road rotating shaft transmission, the stop sleeve are fixed in the shaft of channel.
2. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 1, it is characterised in that: The elasticity compression leg of the resistance to superelevation capsule utricule is provided with utricule outer rim group in the fold circle structural outer surface of each radial direction Part is provided with steel ring component in utricule in the fold circle structure interior surface of each radial direction；The front stretching bearing plate with Steel ring component is fixedly connected in the utricule of front end on the inside of the elastic compression leg of resistance to superelevation capsule utricule；The first leg and the second supporting leg Hinge joint, third supporting leg and the 4th supporting leg hinge joint be longitudinally-hinged point, the hinge joint of first leg and third supporting leg, the The hinge joint of two supporting legs and the 4th supporting leg is to be laterally hinged with a little；The leather bag telescopic adjustment supporting mechanism further includes multiple resistance to superelevation Pressure support diaphragm, resistance to super-pressure support diaphragm are evenly distributed on the inner surface of the elastic compression leg of resistance to superelevation capsule utricule, elasticity The compression leg of resistance to superelevation capsule utricule is laterally hinged with a little by one of them in diaphragm support column and resistance to super-pressure scaling quadrangle mould group It is fixedly connected.
3. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 1, it is characterised in that: The deep-sea composite cabin of resistance to super-pressure includes the compound cabin of resistance to super-pressure, and the resistance to compound cabin of super-pressure is cylindrical, in resistance to superelevation It presses the both ends of compound cabin to be respectively arranged with preceding end cover and rear end cover, and is sealed by end cap seal circle, preceding close It is connected with fixed bracket between sealing end lid and rear end cover, power supply watertight connector, main communication are provided on rear end cover Watertight connector, secondary communication watertight connector and operating mode configure watertight connector.
4. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 3, it is characterised in that: Any one high pressure resistant buoyancy self-calibration device among the above is configured to coordinator, remaining high pressure resistant buoyancy self-calibration device As node；The main communication watertight connector of the high pressure resistant buoyancy self-calibration device as coordinator passes through watertight cable and underwater work The connection of the communication interface of industry equipment or underwater robot, the secondary communication water of the high pressure resistant buoyancy self-calibration device as coordinator Contiguity head is connect with the main communication watertight connector of the high pressure resistant buoyancy self-calibration device as node respectively, or as coordinator The secondary communication watertight connector of the high pressure resistant buoyancy self-calibration device is filled with one of them high pressure resistant buoyancy self-calibration as node The main communication watertight connector connection set, the secondary communication watertight connector of the high pressure resistant buoyancy self-calibration device as node is again under The main communication watertight connector of one high pressure resistant buoyancy self-calibration device as node connects.
5. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 1, it is characterised in that: The resistance to super-pressure scaling quadrangle mould group is arranged 4 altogether, and is uniformly distributed along the inside border of the scalable leather bag of resistance to super-pressure, The corresponding support rod is also provided with 4, and the 4th of each support rod and one of them resistance to super-pressure scaling quadrangle mould group the Supporting leg is correspondingly connected with, and one end of all support rods is each attached on stop sleeve.
6. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 1, it is characterised in that: The high pressure resistant buoyancy self-calibration device further includes control mechanism, and control mechanism includes super low power consuming single chip processor, wide power conditioning With power supply module and DC servo motor driver, super low power consuming single chip processor respectively with main communication watertight connector, secondary communication water Contiguity head is connected with operating mode configuration watertight connector, and wide power conditioning and power supply module are connect with power supply watertight connector, direct current Motor servo driver is connect with servo motor.
7. the autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water according to claim 3, it is characterised in that: The outside of the scalable leather bag of resistance to super-pressure is provided with protection shell, is provided with inside and outside intercommunicating pore on protection shell, protects Shell is connect with the compound cabin of resistance to super-pressure.
CN201821422092.2U 2018-08-31 2018-08-31 The autonomous trimming system of operating equipment buoyancy under full sea deep water Expired - Fee Related CN208789913U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109018267A (en) * 2018-08-31 2018-12-18 中国海洋大学 The autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water
CN112074135A (en) * 2020-09-10 2020-12-11 沈阳航天新光集团有限公司 Flexible self-balancing pressure device
CN115447737A (en) * 2022-10-17 2022-12-09 中国船舶科学研究中心 Deep sea underwater vehicle for realizing joint motion control

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109018267A (en) * 2018-08-31 2018-12-18 中国海洋大学 The autonomous trimming system of operating equipment buoyancy under a kind of complete extra large deep water
CN109018267B (en) * 2018-08-31 2022-02-11 中国海洋大学 Buoyancy automatic balancing system for all-sea deep water operation equipment
CN112074135A (en) * 2020-09-10 2020-12-11 沈阳航天新光集团有限公司 Flexible self-balancing pressure device
CN115447737A (en) * 2022-10-17 2022-12-09 中国船舶科学研究中心 Deep sea underwater vehicle for realizing joint motion control

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