CN220199558U - Device for floating and buoyancy adjustment of negative buoyancy underwater robot - Google Patents
Device for floating and buoyancy adjustment of negative buoyancy underwater robot Download PDFInfo
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- CN220199558U CN220199558U CN202322161270.8U CN202322161270U CN220199558U CN 220199558 U CN220199558 U CN 220199558U CN 202322161270 U CN202322161270 U CN 202322161270U CN 220199558 U CN220199558 U CN 220199558U
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- underwater robot
- buoyancy
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- wet
- floating
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 239000013589 supplement Substances 0.000 claims abstract description 7
- 239000007789 gas Substances 0.000 claims description 28
- 238000009423 ventilation Methods 0.000 claims description 12
- 239000011261 inert gas Substances 0.000 claims description 4
- 238000011084 recovery Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Abstract
The utility model provides a device for floating up and adjusting a floating state of a negative buoyancy underwater robot, wherein a wet cabin section is arranged on the underwater robot, a floating state adjusting device is arranged in the wet cabin section, and when the underwater robot needs to float up or recover, a pressure-resistant air bag is inflated, so that water in the wet cabin section is extruded out of the wet cabin section after the pressure-resistant air bag is inflated, the floating state of the negative buoyancy underwater robot is adjusted, the underwater robot can be protected, and the underwater robot can be conveniently recovered smoothly in an emergency state or after the operation is finished; therefore, compared with an external safety airbag, the utility model does not damage the streamline shape of the underwater robot, and can supplement a part of buoyancy under the conditions of lower navigational speed, insufficient control system and rudder efficiency, so that the operation of the underwater robot can continue to execute underwater tasks under water; compared with the recovery of the underwater robot realized by the weight throwing block, the floating state adjusting device can be repeatedly used, and has the advantage of environmental protection.
Description
Technical Field
The utility model belongs to the field of underwater robots, and particularly relates to a device for floating up and floating state adjustment of a negative buoyancy underwater robot.
Background
After the zero-buoyancy or slightly positive-buoyancy underwater robot finishes the task underwater, the zero-buoyancy or slightly positive-buoyancy underwater robot can move to the water surface under the control of a control system and a rudder to finish the recovery of the underwater robot. After the propeller works, the underwater robot with negative buoyancy can finish underwater operation under the control system adjusting rudder, and when the electric quantity is insufficient, the control system fails, and the speed of finishing tasks to return to the water surface is low, the underwater robot cannot float upwards, sink into the water and be lost. Therefore, it is desirable to design a device that is capable of recovering a negatively buoyant underwater robot after completion of a task, or in an emergency situation.
The prior art mainly uses the mode of discarding the weight to reduce the weight of the underwater robot, the weight is difficult to recycle in the mode, besides having a certain influence on the ecological environment, the randomness of the discarding position is easy to smash underwater equipment; in addition, part of buoyancy is generated by the ejection of the safety airbag, and the safety airbag is hung outside the underwater robot to drive the underwater robot to float upwards, so that the hydrodynamic appearance of the underwater robot is destroyed in the floating process, the operation cannot be continued, and only the floating can be realized.
Disclosure of Invention
In order to solve the problems, the utility model provides a device for floating up and adjusting a floating state of a negative buoyancy underwater robot, which can realize the floating up and adjusting the floating state of the underwater robot under the condition of not changing the streamline shape of the underwater robot.
The device is arranged on a wet cabin section arranged on the negative buoyancy underwater robot, and a water drain hole is arranged on a bulkhead of the wet cabin section;
the device comprises a shell 4, a valve 5, a ventilation device 6, a gas storage device 7 and a pressure-resistant air bag 8, wherein the valve 5, the ventilation device 6 and the gas storage device 7 are arranged inside the shell 4, the ventilation device 6 is connected with the pressure-resistant air bag 8 through the valve 5, and when the negative buoyancy underwater robot needs to float upwards or recover, the gas storage device 7 is inflated to the pressure-resistant air bag 8 through the ventilation device 6 and the valve 5, so that water in a wet cabin is extruded out of the wet cabin after the pressure-resistant air bag 8 is inflated, and the floating state of the negative buoyancy underwater robot is adjusted.
Further, a pressure sensor 9 is further arranged in the pressure-resistant air bag 8, and the control system of the negative buoyancy underwater robot adjusts the inflation amount of the pressure-resistant air bag 8 by reading pressure data fed back by the pressure sensor 9 and opening and closing of a negative buoyancy control valve 5 currently required by the negative buoyancy underwater robot.
Further, a wet cabin section is arranged at the front cabin section and the rear cabin section of the negative buoyancy underwater robot, the device is arranged in each wet cabin section, and the floating state adjustment of the negative buoyancy underwater robot is realized by adjusting the inflation amount of the pressure-resistant air bags 8 in the two wet cabin sections.
Further, the gas stored in the gas storage device 7 is an inert gas.
Further, the wet cabin section is arranged at a floating center position of the negatively buoyancy underwater robot.
Further, the length of the wet section is related to the amount of negative buoyancy that the underwater robot can supplement, wherein the longer the length of the wet section, the greater the negative buoyancy that the underwater robot can supplement.
Further, the power supply device completely independent of the negative buoyancy underwater robot is also included.
The beneficial effects are that:
1. the utility model provides a device for floating up and floating state adjustment of a negative buoyancy underwater robot, wherein a wet cabin section is arranged on the underwater robot, a floating state adjustment device is arranged in the wet cabin section, and when the underwater robot needs to float up or recover, a pressure-resistant air bag is inflated, so that water in the wet cabin section is extruded out of the wet cabin section after the pressure-resistant air bag is inflated, the total weight of the underwater robot is lightened, the floating state of the negative buoyancy underwater robot is adjusted, the underwater robot can be protected, and the underwater robot can be conveniently recovered smoothly in an emergency state or after the operation is finished; therefore, compared with an external safety airbag, the utility model does not damage the streamline shape of the underwater robot, and can supplement a part of buoyancy under the conditions of lower navigational speed, insufficient control system and rudder efficiency, so that the operation of the underwater robot can continue to execute underwater tasks under water; compared with the recovery of the underwater robot realized by the weight throwing block, the floating state adjusting device can be repeatedly used, and has the advantage of environmental protection.
2. The utility model provides a device for floating up and floating state adjustment of a negative buoyancy underwater robot, wherein a single floating state adjustment device is arranged at a floating center position, so that the effect of recycling the underwater robot can be achieved; two floating state adjusting devices are arranged in front of and behind the underwater robot, and the floating state adjusting effect can be achieved by controlling the inflation amount of the two floating state adjusting devices except for supplementing buoyancy during recovery.
3. The utility model provides a device for floating up and floating state adjustment of a negative buoyancy underwater robot, wherein gas stored in a gas storage device is inert gas, so that the reaction of the gas in a high-pressure gas storage device can be prevented, and the effectiveness of a buoyancy device is influenced.
4. The utility model provides a device for floating up and floating state adjustment of a negative buoyancy underwater robot, which takes the length of a wet cabin section as a balance weight parameter for adjusting the underwater robot, and the volume of the wet cabin is related to the magnitude of the supplementary negative buoyancy.
Drawings
FIG. 1 is a schematic diagram of an underwater robot having a wet cabin;
FIG. 2 is a schematic view of a wet tank and a floating device;
FIG. 3 is a schematic diagram of an underwater robot provided with two wet tanks;
1-propeller, 2-rudder plate, 3-wet cabin section, 4-casing, 5-valve, 6-breather, 7-high pressure gas storage device, 8-pressure-resistant gasbag, 9-pressure sensor, 10-first wet cabin section, 11-second wet cabin section.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.
The utility model provides a device for floating up and floating state adjustment of a negative buoyancy underwater robot, which is shown in figure 1, and is arranged on a wet cabin section arranged on the negative buoyancy underwater robot, wherein the wet cabin section is arranged at the floating center position of the negative buoyancy underwater robot, and the bulkhead of the wet cabin section is provided with drainage holes, wherein the number of the drainage holes can be 1 or more, and when a plurality of the drainage holes are arranged, the distribution form of the drainage holes is uniformly distributed on the bulkhead, so that the distribution form is preferable.
As shown in fig. 2, the device comprises a shell 4, a valve 5, a ventilation device 6, a gas storage device 7, a pressure-resistant air bag 8 and a pressure sensor 9, wherein the valve 5, the ventilation device 6 and the gas storage device 7 are arranged in the shell 4, the ventilation device 6 is connected with the pressure-resistant air bag 8 through the valve 5, and when the negative buoyancy underwater robot needs to float or recover, the gas storage device 7 is inflated to the pressure-resistant air bag 8 through the ventilation device 6 and the valve 5, so that the pressure-resistant air bag 8 extrudes water in a wet cabin section out of the wet cabin section after being inflated, and the floating state of the negative buoyancy underwater robot is adjusted; the control system of the negative buoyancy underwater robot controls the opening and closing of the valve 5 by reading the pressure data fed back by the pressure sensor 9 and the current required negative buoyancy of the negative buoyancy underwater robot, so as to regulate the inflation amount of the pressure-resistant air bag 8.
The information transmission and feedback are carried out between the underwater robot and the floating device, and when the underwater robot needs to float upwards or needs to be recovered, the floating and floating state adjusting device is started to supplement a part of buoyancy so as to enable the underwater robot to float upwards; the valve is communicated with the pressure-resistant air bag, and the pressure-resistant air bag is attached to the inner cavity of the wet cabin after being inflated.
The pressure-resistant air bag is internally provided with a pressure sensor, negative buoyancy to be regulated can be regulated according to the inflation quantity in the pressure-resistant air bag, and feedback regulation is carried out through the pressure sensor. The pressure-resistant air bag is made of elastic materials, and gas stored in the high-pressure gas storage device is inert gas, so that the reaction of the gas in the high-pressure gas storage device is prevented, and the effectiveness of the buoyancy device is influenced.
The device for floating and buoyancy adjustment can be used for multiple times, the length of the wet cabin is selected according to the negative buoyancy of the underwater robot, and the corresponding high-pressure gas storage device is filled with corresponding pressure gas in advance according to the negative buoyancy of the underwater robot and the working water depth before being used, so that the gas storage pressure corresponds to the water depth which is greater than the working water depth of the underwater robot.
The pressure-resistant air bag is made of elastic materials, and the shape of the pressure-resistant air bag is limited and fixed by the inner cavity of the wet cabin; when the device for floating and floating state adjustment receives a command, the high-pressure air storage device inflates the pressure-resistant air bag through the air valve, and the inflation quantity is controlled through feedback adjustment of the pressure sensor in the pressure-resistant air bag; when the pressure-resistant air bag is inflated in the wet cabin, water in the wet cabin is extruded out of the wet cabin.
The power supply device of the floating and floating state adjusting device is completely independent of the underwater robot; the floating and floating state adjusting device is internally provided with a power supply device and a switching device, the floating device is airtight and waterproof, and pressure sensor data can be read by an underwater robot control system and used for controlling the switching of the valve according to the data fed back by the pressure sensor and the required negative buoyancy.
In summary, the working principle of the utility model is as follows: the underwater robot works underwater, and when the floating and floating state adjusting device and the control system of the underwater robot do not start working, the interior of the wet cabin is water; when the device for floating and floating state adjustment is started, the valve is opened, gas in the high-pressure gas storage device flows to the pressure-resistant air bag, the volume of the pressure-resistant air bag is increased after the pressure-resistant air bag is inflated, water in the wet cabin is extruded out of the wet cabin through the water drainage hole, the total buoyancy of the underwater robot is increased, the negative buoyancy of the underwater robot is balanced, the underwater robot floats upwards under the condition that the streamline shape is not changed, the recovery of the underwater robot or the task operation of the next step can be further completed, only one buoyancy device can be arranged and is arranged at the floating center position, the device for floating and floating state adjustment can be arranged front and back as shown in fig. 3, and the effect of adjusting the floating state can be achieved by controlling the quantity of the gas.
Of course, the present utility model is capable of other various embodiments and its several details are capable of modification and variation in light of the present utility model by one skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.
Claims (7)
1. The device is characterized in that the device is arranged on a wet cabin section arranged on the negative buoyancy underwater robot, and a water drain hole is arranged on a bulkhead of the wet cabin section;
the device comprises a shell (4), a valve (5), a ventilation device (6), a gas storage device (7) and a pressure-resistant air bag (8), wherein the valve (5), the ventilation device (6) and the gas storage device (7) are arranged inside the shell (4), the ventilation device (6) is connected with the pressure-resistant air bag (8) through the valve (5), the gas storage device (7) is inflated to the pressure-resistant air bag (8) through the ventilation device (6) and the valve (5) when the negative buoyancy underwater robot needs to float or recover, and water in a wet cabin section is extruded out of the wet cabin section after the pressure-resistant air bag (8) is inflated, so that the floating state of the negative buoyancy underwater robot is adjusted.
2. The device for floating up and adjusting the floating state of the negative buoyancy underwater robot according to claim 1, wherein the pressure-resistant air bag (8) is further provided with a pressure sensor (9), and the control system of the negative buoyancy underwater robot adjusts the inflation amount of the pressure-resistant air bag (8) by reading pressure data fed back by the pressure sensor (9) and the switch of a negative buoyancy control valve (5) currently required by the negative buoyancy underwater robot.
3. Device for the ascent and buoyancy adjustment of a negatively buoyant underwater robot according to claim 1, characterized in that the front and rear sections of the negatively buoyant underwater robot are each provided with a wet section, and that the device is installed in both wet sections, whereby the buoyancy adjustment of the negatively buoyant underwater robot is achieved by adjusting the amount of inflation of the pressure-resistant air bags (8) in both wet sections.
4. Device for the ascent and adjustment of the buoyancy state of a negatively buoyant underwater robot according to claim 1, characterised in that the gas stored in the gas storage means (7) is an inert gas.
5. A device for floating and buoyancy adjustment of a negatively buoyant underwater robot as claimed in any one of claims 1 to 4 wherein the wet section is provided at the position of the centre of buoyancy of the negatively buoyant underwater robot.
6. A device for buoyancy up and buoyancy adjustment of a negatively buoyant underwater robot as claimed in any one of claims 1 to 4 wherein the length of the wet section is related to the amount of negative buoyancy that the underwater robot can supplement, wherein the longer the length of the wet section the greater the negative buoyancy that the underwater robot can supplement.
7. A device for floating and buoyant adjustment of a negatively buoyant underwater robot as claimed in any one of claims 1 to 4 further comprising power supply means completely independent of the negatively buoyant underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322161270.8U CN220199558U (en) | 2023-08-11 | 2023-08-11 | Device for floating and buoyancy adjustment of negative buoyancy underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322161270.8U CN220199558U (en) | 2023-08-11 | 2023-08-11 | Device for floating and buoyancy adjustment of negative buoyancy underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220199558U true CN220199558U (en) | 2023-12-19 |
Family
ID=89146724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322161270.8U Active CN220199558U (en) | 2023-08-11 | 2023-08-11 | Device for floating and buoyancy adjustment of negative buoyancy underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220199558U (en) |
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2023
- 2023-08-11 CN CN202322161270.8U patent/CN220199558U/en active Active
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