KR102621056B1 - Balance system for underwater vehicle - Google Patents

Abstract

The present invention relates to a balance device for an underwater mobile device that controls the buoyancy of the underwater mobile device so that it can submerge or float. It consists of a sealed enclosure with a space inside and is integrally installed in an underwater mobile device that moves underwater, A ballast tank in which a partition is installed inside and the interior is divided into a first chamber and a second chamber filled with air or water, and an air pocket due to air filling is formed in at least one of the first chamber or the second chamber. ; An air supply device that supplies air to the ballast tank; A water pressure generator that guides water in the water to the ballast tank and generates water pressure inside the ballast tank; and movably installed in at least one of the first chamber and the second chamber of the ballast tank to divide the interior of the first chamber or the second chamber, and the volume of the air pocket formed in the first chamber or the second chamber through movement. A plunger that varies; and an actuator connected to the plunger to move the plunger. The buoyancy can be controlled by adjusting the amount of air by changing the volume of the air pocket.

Description

Balance device for underwater mobile devices {BALANCE SYSTEM FOR UNDERWATER VEHICLE}

The present invention relates to a balance device for an underwater mobile device, and more specifically, to a balance device for an underwater mobile device that controls buoyancy so that the underwater mobile device can submerge or float.

In general, underwater mobile devices that are moved underwater by diving to the depth of the water refer to mobile devices that operate based on neutral buoyancy, which is a state in which gravity and buoyancy are equal and in equilibrium.

Unlike water-based mobile devices such as ships that are driven back and forth and left and right on the water, these underwater mobile devices require a buoyancy control device because they must dive underwater and resurface on the surface.

In addition, in water, various variables other than movement due to propulsion are more likely to occur, making it difficult to control the posture of the underwater mobile device.

Accordingly, the conventional underwater mobile device is configured to include, in addition to a buoyancy control device for diving underwater and surfacing, an attitude control device that can control the attitude of the underwater mobile device by controlling the center of buoyancy.

The attitude control device provided in such a conventional underwater mobile device is configured to control the center of buoyancy using seawater or a fluid other than seawater. That is, conventional underwater mobile devices control the center of buoyancy by moving seawater or fluid inside a tank where seawater or fluid is stored, using a method such as pressurization or tilting.

However, since conventional underwater mobile devices must be equipped with an attitude control device in addition to the buoyancy control device, there is a problem of increased manufacturing costs and increased hull weight.

In addition, in the case of a conventional attitude control device, the center of buoyancy is controlled by the movement of seawater or fluid, but when the seawater or fluid is not completely filled in the tank, internal flow occurs, making detailed attitude manipulation difficult. In this case, there was a problem that movement of these seawater or fluids was structurally difficult.

Meanwhile, conventional underwater mobile devices consist of submarines or submersibles operated by crew members, or unmanned submarines or ocean exploration vehicles that operate unmanned through autonomous driving or remote control.

Such conventional underwater mobile devices are configured to be able to emerge quickly to the surface in the event of an emergency situation. For example, a conventional underwater mobile device is equipped with a detachable heavy object for buoyancy control (e.g., ballast weight or ballast water), and when emergency flotation requirements are met, the heavy weight for buoyancy control is separated or drained from the underwater mobile device, thereby maintaining negative buoyancy. By reducing the weight of the underwater mobile device and converting it to a positive buoyancy state, the underwater mobile device floats to the surface to facilitate escape or recovery.

However, these emergency surfacing situations often occur during horizontal diving or underwater descent of the underwater mobile device, and the underwater mobile device must quickly surface while diving, but it is difficult to drain the ballast water in an emergency situation where the underwater mobile device must surface quickly. There was a problem with time constraints.

In addition, in the case of the weight separation method, the weight, which is a part of the underwater mobile device, is floated while separated, so not only is it impossible to reuse, but there is a problem that costs are incurred due to additional weights. In addition, if a defect occurs in the weight separation device due to external impact, etc., separation of the weight may be limited, so there is a disadvantage in that it is not suitable for use for emergency injuries.

In particular, conventional underwater mobile devices have the inherent problem that when radio waves are blocked or power is completely cut off due to factors such as power cut or external shock, the use of these emergency flotation devices may be limited, putting them at great risk.

Republic of Korea Patent No. 10-1149799 (registered on May 18, 2012)

The present invention was created to solve the above-mentioned problems, and the purpose of the present invention is to provide a balance device for an underwater mobile device that can perform buoyancy control and posture control of the underwater mobile device with a single balance system.

In addition, the purpose of the present invention is to provide a balance device for an underwater mobile device that can automatically generate buoyancy to enable emergency escape by floating underwater in the event of an emergency situation such as an interruption in electricity supply.

The balance device for an underwater mobile device of the present invention for achieving the above-described object is composed of a sealed enclosure with a space inside and is integrally installed in an underwater mobile device that moves underwater, and a partition is installed inside to maintain air or water. A ballast tank whose interior is divided into a first chamber and a second chamber filled with water, and where an air pocket due to air filling is formed in at least one of the first chamber and the second chamber; An air supply device that supplies air to the ballast tank; A water pressure generator that guides water in the water to the ballast tank and generates water pressure inside the ballast tank; and movably installed in at least one of the first chamber and the second chamber of the ballast tank to divide the interior of the first chamber or the second chamber, and the volume of the air pocket formed in the first chamber or the second chamber through movement. A plunger that varies; and an actuator connected to the plunger to move the plunger.

Additionally, the plunger includes a pair of plates that are spaced apart from each other to face both sides of the partition and partition the insides of the first chamber and the second chamber, respectively. One of the pair of plates changes the volume of the air pocket in the first chamber or the second chamber by a moving motion.

And, the actuator includes a rod that is inserted into the inside of the ballast tank, penetrates the partition, is respectively connected to a pair of plates, and moves within the ballast tank; and a hydraulic cylinder that moves the rod by providing driving force to the rod.

Meanwhile, the present invention forcibly operates the rod by forcibly injecting a reserve fluid separately from the fluid supplied for the operation of the hydraulic cylinder into the hydraulic cylinder, and expands the volume of the air pocket formed in the ballast tank through the forcibly operated rod. It further includes a relief unit that moves the plates in the desired direction to generate buoyancy in the ballast tank for emergency escape.

And, the relief unit includes a sub-tank including an air storage unit filled with air discharged from the ballast tank and a fluid storage unit filled with reserve fluid; A moving valve that divides the interior of the subtank into a fluid storage section and an air storage section and is movably installed; and a fluid control valve branched from the fluid tank that supplies reserve fluid to the subtank and installed in an emergency fluid line connected to the fluid storage unit. The relief unit forcibly supplies reserve fluid to the hydraulic cylinder of the actuator when the fluid control valve is opened when the power is turned off.

Here, the relief unit further includes a spring installed on the air storage side to elastically support the movable valve.

As described above, the present invention has the advantage of being able to control buoyancy through a simple operation method by adjusting the volume of the air pocket formed inside the ballast tank, and at the same time controlling the attitude of the underwater mobile device.

In addition, according to the present invention, balance control work can be easily performed by changing the volume of the air pocket only by moving the plate that partitions the inside of the ballast tank.

In addition, according to the present invention, both plates, in which the pressure on both sides is maintained in a uniform state, are moved simultaneously through hydraulic operation, so that balance operation is possible without generating a large force, thereby minimizing power loss in the hull.

In particular, according to the present invention, since the movement of the rod that moves the plate can be guided and operated, stable balance control is possible.

Meanwhile, according to the present invention, the buoyancy state can be converted to negative buoyancy or positive buoyancy for diving or floating of an underwater mobile device by simply moving the plunger using an actuator. That is, according to the present invention, in the event of an emergency situation such as a power supply cut off or a short circuit in the power line, the volume of the air pocket in the ballast tank can be increased without power supply, so buoyancy can be easily generated to cause the underwater mobile device to float. You can escape safely.

1 is an internal cross-sectional view schematically showing a balance device for underwater mobile devices according to an embodiment of the present invention;
Figure 2 is an enlarged cross-sectional view showing a portion of the balance device for an underwater mobile device of Figure 1;
Figure 3 is an enlarged cross-sectional view showing another part of the balance device for an underwater mobile device of Figure 1;
Figure 4 is an operating state diagram showing the operating state of the plunger and the actuator of the balance device for underwater mobile devices according to an embodiment of the present invention;
Figure 5 is an operating state diagram showing the operating state of the plunger and the actuator of the balance device for underwater mobile devices according to an embodiment of the present invention;
Figure 6 is an operating state diagram showing the operating state of the relief unit of the balance device for underwater mobile devices according to an embodiment of the present invention; and
Figure 7 is an operating state diagram showing the operating state of the relief unit of the balance device for underwater mobile devices according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms.

Hereinafter, the technical features of the present invention will be described in detail with reference to the attached drawings.

1 and 2 are diagrams schematically showing a balance device for an underwater mobile device according to an embodiment of the present invention.

The balance device for underwater mobile devices of the present invention may include a ballast tank 10, an air supply 20, a water pressure generator 30, a plunger 40, and an actuator 50, as shown in FIGS. 1 and 2. there is.

The ballast tank 10 is formed as a box-shaped housing, as shown in FIGS. 1 and 2, and can be installed integrally in a typical underwater mobile device 1 that moves underwater, such as an underwater exploration vessel such as a submersible or submarine. You can. For example, the ballast tank 10 may be configured in a cylindrical barrel shape and may be formed in a completely sealed structure to prevent fluid stored therein from leaking to the outside. In addition, the ballast tank 10 may be configured to be divided into a first chamber 11 and a second chamber 12 filled with air or water. This ballast tank 10 may be divided into a first chamber 11 and a second chamber 12 on both sides by a partition 13 installed inside.

Additionally, an air pocket 11a may be formed by filling air in at least one of the first chamber 11 and the second chamber 12.

As shown in Figures 1 and 2, the air supplier 20 is connected to the upper part of the ballast tank 10 to supply air to the inside, and is connected to the ballast tank 10 so as to communicate with the air pocket 11a. It can be formed on the outside. The air supplier 20 is connected to the air pocket 11a formed inside the ballast tank 10 and can supply air to the inside of the air pocket 11a. The air supplier 20 can be connected to the air tank 54 installed on the underwater mobile device (1) for air circulation in the air pocket (11a), and supplies air to the air pocket (11a) and the air tank (54) in both directions. It can be communicated through.

Here, the remaining internal space of the ballast tank 10, excluding the air pocket 11a, may be filled with water.

As shown in FIGS. 1 and 2, the water pressure generator 30 may be installed at the bottom of the ballast tank 10 and configured to supply water in the water therein. The water pressure generator 30 may be connected to the first chamber 11 or the second chamber 12, and can generate water pressure inside the ballast tank 10 by guiding the water in the water into the interior of each chamber. .

As shown in FIGS. 1 and 2, the plunger 40 is movably installed in at least one of the first chamber 11 and the second chamber 12 of the ballast tank 10 to move the first chamber 11 ) Alternatively, the interior of the second chamber 12 may be divided. In addition, the plunger 40 may be configured to vary the volume of the air pocket 11a formed in the first chamber 11 or the second chamber 12 through a moving operation.

As shown in FIGS. 1 and 2, the actuator 50 may be connected to the plunger 40 and configured to move the plunger 40. That is, the actuator 50 is formed as a balance control unit together with the plunger 40, and the volume of the air pocket 11a can be varied by moving the plunger 40.

Here, in the ballast tank 10 of the present invention, the volume of the air pocket (11a) is changed by the plunger 40 and the actuator 50, and the amount of air contained in the air pocket (11a) changes due to the volume change. Accordingly, the balance device for an underwater mobile device of the present invention provides negative or positive buoyancy to the underwater mobile device (1) depending on the amount of air in the air pocket (11a).

In this way, the balance device for underwater mobile devices of the present invention can control the volume of the air pocket (11a) provided in the ballast tank (10) with a simple movement by the plunger (40) and the actuator (50), and the air pocket ( As the amount of air in the air pocket 11a is adjusted according to the change in volume of 11a), the buoyancy state of the underwater mobile device 1, which was maintained as neutral buoyancy, changes to negative buoyancy or positive buoyancy, allowing it to dive or float.

That is, in a state where the underwater mobile device (1) operated by the balance device for underwater mobile devices of the present invention does not dive to the surface or float, and the buoyancy force and the force of gravity are the same as neutral buoyancy, the voice sound changes according to the change in the amount of air. If buoyancy is present, the main body of the underwater mobile device (1) becomes higher than the specific gravity of water and submerges, and if positive buoyancy, the main body of the underwater mobile device (1) becomes lower than the specific gravity of water and may float.

In addition, the balance device for an underwater mobile device of the present invention can control the posture of an underwater mobile device by adjusting the amount of air according to volume changes.

Therefore, according to the present invention, buoyancy can be controlled by a simple operation method for changing the volume of the air pocket (11a), and at the same time, the attitude of the underwater mobile device can be controlled.

Specifically, let's look at the configuration of a balance device for underwater mobile devices according to an embodiment of the present invention.

The ballast tank 10 consists of a first chamber 11 and a second chamber 12 divided by a partition 13, as shown in FIGS. 1 and 2. Here, each of the first chamber 11 and the second chamber 12 of the ballast tank 10 is located on the front or rear side with respect to the longitudinal direction of the ballast tank 10. In this embodiment, for convenience of explanation, the actuator The description will be made assuming that the chamber located far from (50) is the first chamber 11, and the chamber located close to (50) is the second chamber 12. And, in this embodiment, as an example, it is explained that an air pocket 11a is formed in the first chamber 11. Alternatively, although not shown in the drawings, the chamber located close to the actuator 50 may be configured as the first chamber 11, and the chamber located far from the actuator 50 may be configured as the second chamber 12. In this case, the second chamber 12 An air pocket (11a) may be formed.

The partition 13 installed inside the ballast tank 10 is made of a circular plate with a predetermined thickness corresponding to the inner diameter of the ballast tank 10 and can be fixed to the inside of the ballast tank 10. , the interior of the ballast tank 10 is divided into a first chamber 11 and a second chamber 12. At this time, the partition 13 is placed in the center of the ballast tank 10 to separate the first chamber 11 and the second chamber 12 into a space of approximately the same size, and the first chamber 11 and the second chamber 12 The space can be divided while maintaining a sealed state so that the chambers 12 do not communicate with each other.

That is, the ballast tank 10 may have an air pocket 11a formed in the first chamber 11 partitioned by the partition 13, and the air pocket 11a is formed by the plunger 40 and the actuator 50. The volume of is controlled.

Meanwhile, the interior of the ballast tank 10 may be divided into the first chamber 11 and the second chamber 12 by the first plate 41 and the second plate 42 of the plunger 40, which will be described later. there is. The first chamber 11 is divided into two spaces by the first plate 41, one of which is formed as an air pocket (11a) and the other is a first water pocket (11b) through which water enters and exits. can be formed. In addition, the second chamber 12 is divided into two spaces by the second plate 42, and both spaces are formed with a second water pocket (12a) and a third water pocket (12b) through which water enters and exits. It can be.

Here, the water pressure generator 30 provided in the ballast tank 10 may include a first communication port 31, a second communication port 32, and a third communication port 33. The first communication port 31 may be formed in the lower part of the ballast tank 10 to communicate with the first water pocket 11b of the first chamber 11, and allows water in the water to flow into the first water pocket 11b. Allow access. The second communication port 32 may be formed in the lower part of the ballast tank 10 to communicate with the second water pocket 12a of the second chamber 12, and allows water in the water to flow into the second water pocket 12a. Allow access. The third communication port 33 may be formed in the lower part of the ballast tank 10 to communicate with the third water pocket 12b of the second chamber 12, and allows water in the water to flow into the third water pocket 12b. Allow access.

These water pressure generators 30 are operated by the plunger 40 and the actuator 50 to change the volume of the first chamber 11 and the second chamber 12, that is, the first to third pressure generators according to the volume change of the air pocket 11a. It is possible to induce water in and out of the water in response to changes in the volume of the water pockets 11b, 12a, and 12b. Accordingly, the ballast tank 10 can be maintained in a state where the remaining space separated from the air pocket 11a is filled with underwater water, and the interior of the ballast tank 10 is filled with air and water.

The plunger 40 can be moved by the actuator 50 to control the volume of the air pocket 11a formed in the ballast tank 10. The plunger 40 may be configured to change the volume of the air pocket (11a) by moving the valve provided to be spaced apart from the partition 13. At this time, in this embodiment, the plunger 40 is configured to control the volume of the air pocket 11a disposed in the first chamber 11, but differently, the air pocket 11a may be formed in the second chamber 12. In this case, it may be configured to control the volume of the air pocket (11a) formed in the second chamber (12).

For this purpose, the plunger 40 may include a pair of plates 41 and 42.

A pair of plates 41 and 42 are arranged to face one side and the other side of the partition 13, respectively, as shown in FIGS. 1 and 2. Each of the pair of plates 41 and 42 may be formed to have a size corresponding to the partition 13, that is, the same size as the inner diameter of the ballast tank 10, and is made of a circular plate with a predetermined thickness to form a first It may be disposed inside the chamber 11 and the second chamber 12, respectively. At this time, each plate may be configured to partition the interior of the first chamber 11 and the second chamber 12, respectively, similar to the partition 13. For example, a pair of plates 41 and 42 are spaced apart from one side of the partition 13 and the first plate 41 is located in the first chamber 11, and the first plate 41 is spaced apart from the other side of the partition 13 and is positioned in the first chamber 11. It may be composed of a second plate 42 located in the second chamber 12, dividing the first chamber 11 into two spaces by the first plate 41, and dividing the first chamber 11 into two spaces by the second plate 42. The second chamber 12 can be divided into two spaces.

These first plate 41 and second plate 42 may be respectively connected to the actuator 50 and may be moved within the ballast tank 10 by the actuator 50. Here, the first plate 41 and the second plate 42 are each spaced apart from each other with respect to the partition 13, but as they are each connected to the actuator 50, they are moved by the actuator 50. They can be moved simultaneously by motion.

Accordingly, the plunger 40 of the present invention can change the volume of the air pocket 11a formed inside the first chamber 11 as the first plate 41 located in the first chamber 11 moves. .

In this way, the plunger 40 of the present invention can change the volume of the air pocket (11a) only by moving the first plate 41 and the second plate 42.

At this time, the space between the first plate 41 and the second plate 42 moved by the actuator 50 is filled with air or water, and the space outside the first plate 41 and the second plate 42 is filled with water. As uniform pressure is applied to each of the first plate 41 and the second plate 42 by these fluids, the movement of the first plate 41 and the second plate 42 can be easily performed. there is.

To elaborate, the first plate 41 and the second plate 42 facing each other with the partition 13 in between are formed in a structure that partitions the first chamber 11 and the second chamber 12, In each chamber of the ballast tank 10, a first water pocket (11b), a second water pocket (12a), and a third water pocket (12b) are formed along with the air pocket (11a). An air pocket (11a) and a second water pocket (12a) are located in the space between the first plate 41 and the second plate 42, and a first water pocket (11b) and a third water pocket are located in the outer space ( 12b) is located.

Here, since the first water pocket (11b) and the third water pocket (12b) provided in the outer space of the first plate 41 and the second plate 42 are filled with water, the first plate 41 and the third water pocket (12b) are filled with water. Uniform pressure can be applied to each of the two plates 42.

For example, if the water pressure at 500 meters under the sea is 100 bar, the water pressure of 100 bar will be the same on both sides of the water-filled space, regardless of the amount of water. That is, as the plunger 40 moves, the space of the air pocket 11a changes and the volume of these water pockets changes, so even if the amount of water changes, the water pressure can be applied equally on both sides.

Accordingly, since the pressure due to the water pressure acting on both spaces is the same, the mutual loads are canceled out and it is possible to move without load even if only a small force is applied.

In this way, the plunger 40 of the present invention moves the first plate 41 with a weak force when a driving force in one direction is generated by the actuator 50 with respect to the first plate 41 and the second plate 42. And the second plate 42 can be moved.

Meanwhile, the actuator 50 may be composed of a hydraulically driven cylinder and may include a rod 51 and a hydraulic cylinder 52 as shown in FIG. 2.

The rod 51 can be inserted into the interior of the ballast tank 10 and moved in and out. This rod 51 may be connected to the first plate 41 and the second plate 42, respectively. At this time, the rod 51 may penetrate the partition 13 and have one end connected to the first plate 41 and an approximately middle portion connected to the second plate 42, and the other end of the rod 51 may be connected to a hydraulic cylinder. It can be connected to (52).

The hydraulic cylinder 52 may be configured as a double-acting cylinder that operates by supplying working fluid to both ends. The hydraulic cylinder 52 can move the rod 51 by providing driving force to the rod 51. The hydraulic cylinder 52 moves the rod 51 by inserting the rod 51 into the cylinder barrel (not shown) and hydraulically operating the piston (not shown) connected to the other end of the rod 51. It will be done.

In this way, the actuator 50 can move the first plate 41 and the second plate 42 simultaneously by moving the rod 51.

Therefore, according to the present invention, the first plate 41 and the second plate 42 of the plunger 40, in which the pressure on both sides is maintained in a uniform state, are hydraulically operated by the actuator 50 by the rod 51. Because they move simultaneously, they can operate without generating a lot of force, minimizing power loss.

In addition, according to the present invention, due to the coupling structure of the rod 51 coupled through the partition 13, the movement of the rod 51 can be stably guided by the partition 13 when moving, and the rod 51 Since the first plate 41 and the second plate 42 connected to ) are moved while in contact with the inner surface of the ballast tank 10, a guiding operation can be additionally performed, enabling stable operation of the actuator 50. .

Figure 3 is an enlarged view showing a portion of a balance device for an underwater mobile device according to an embodiment of the present invention.

Referring to FIG. 3, the actuator 50 may include a fluid tank 53 connected to the hydraulic cylinder 52.

The fluid tank 53 may be formed as a cylindrical barrel that accommodates fluid, and may be connected to the hydraulic cylinder 52 to provide, for example, hydraulic oil as a working fluid for hydraulic driving. This fluid tank 53 is formed at both ends of the hydraulic cylinder 52 and has a pair of hydraulic lines 53a and 53b connected to an oil supply port (not shown) connected to the inside, and a motor provided externally. Hydraulic oil can be delivered to the hydraulic cylinder 52 by (M) and the pump (P), or the hydraulic oil contained in the hydraulic cylinder 52 can be recovered. The hydraulic lines (53a, 53b) connected to the fluid tank (53) are branched into two pipes and connected to both ends of the hydraulic cylinder (52), respectively, and serve as a working fluid for the double-acting hydraulic drive of the hydraulic cylinder (52). can be provided. Additionally, a main valve (V) connected to the hydraulic lines (53a, 53b) is installed in the fluid tank (53) to control the supply or recovery of the working fluid.

And, the air tank 54 shown in FIG. 3 can be connected to the air supply device 20. That is, the air tank 54 may be connected to the air pocket 11a of the ballast tank 10 through the air supplier 20. The air tank 54 may be configured in the form of a tube or balloon that accommodates compressed air therein, and is connected to the air supply 20 through an air connector 54a and communicates with the air pocket 11a. Air can be communicated in both directions. Here, the air supplier 20 intakes air discharged from the air pocket (11a) when the volume of the air pocket (11a) decreases by the plunger 40, and air when the volume of the air pocket (11a) increases. Air is injected into the inside of the pocket (11a).

Referring again to FIG. 3, the balance device for an underwater mobile device of the present invention may further include a relief unit 60.

The relief unit 60 may be connected to the fluid tank 53 or the air tank 54 and may be configured as an emergency system that operates to increase the volume of the air pocket (11a) to generate buoyancy. For example, the relief unit 60 forces the rod 51 to operate by forcibly injecting the stored reserve fluid into the hydraulic cylinder 52 separately from the working fluid supplied for the operation of the hydraulic cylinder 52. By moving a pair of plates (41, 42) in the direction of expanding the volume of the air pocket (11a) formed in the ballast tank (10) through the operated rod (51), buoyancy for emergency escape is provided to the ballast tank (910). It can be configured to generate.

To this end, the relief unit 60 may include a subtank 61, a moving valve 62, and a fluid control valve 63, as shown in FIG. 3.

The subtank 61 may be composed of a cylindrical barrel, and its interior may be divided into two spaces by a moving valve 62. Accordingly, the sub tank 61 may be divided into a fluid storage portion 61a in which reserve fluid is stored and an air storage portion 61b in which compressed air is stored. Here, as will be described later, the amount of reserve fluid stored in the fluid storage unit 61a is determined by using the hydraulic cylinder 52 as the working fluid required for the operation to move the plates 41 and 42 in the direction of increasing the volume of the air pocket 11a. It can be formed in an amount sufficient to supply.

Additionally, the sub tank 61 may be connected to the fluid tank 53 or the air tank 54. That is, the emergency fluid line 53c branched from the fluid tank 53 is connected to the fluid storage part 61a of the sub tank 61, and the branch air branched from the air tank 54 is connected to the air storage part 61b. The pipe 54b may be connected. The sub tank 61 may be formed in a completely sealed structure so that the fluid stored therein does not leak to the outside.

The movable valve 62 may be formed of a circular plate with a size corresponding to the inner diameter of the sub tank 61, and may be movably installed inside the sub tank 61. This moving valve 62 can divide the interior of the sub tank 61 into a fluid storage portion 61a and an air storage portion 61b.

The fluid control valve 63 may be installed at the top of the fluid tank 53. This fluid control valve 63 may be installed in the emergency fluid line 53c that branches off from the fluid tank 53 and connects to the fluid storage portion 61a of the sub tank 61. The fluid control valve 63 may be configured as a solenoid valve, and may be operated to automatically open the valve when power is turned off. That is, the fluid control valve 63 is installed in the branch pipe connected to the fluid storage portion 61a of the sub tank 61 and is operated to control the inflow and outflow into the sub tank 61.

Here, the moving valve 62 is pressurized on both sides by the reserve fluid stored in the fluid storage unit 61a and the compressed air stored in the air storage unit 61b, but the reserve fluid is controlled by the fluid control valve 63. As the volume continues to be maintained, it can be supported by fluid on both sides inside the subtank 61 without moving.

In this way, when the supply line is opened by the fluid control valve 63, which is automatically operated when the power is turned off, the relief unit 60 transfers the reserve fluid of the fluid storage unit 61a provided in the sub tank 61 to the hydraulic cylinder ( As the force is injected into 52), the first plate 41 is forcibly moved by the operation of the rod 51, and the volume of the air pocket 11a can be increased to switch to a positive buoyancy state.

Ultimately, the relief unit 60 of the present invention performs the function of forcibly supplying operating fluid to the actuator 50 using the reserve fluid held in the sub tank 61 when an emergency situation such as a power supply cutoff occurs. The operation of the plunger 40 by (50) is operated to forcibly move the first plate 41 and generate buoyancy, so that even if an emergency situation such as a power cut occurs, it can operate to safely escape from the water. It is possible.

In this way, according to the present invention, in the event of an emergency situation such as a power supply cut off or a short circuit in the power line, buoyancy is generated by controlling the volume of the air pocket (11a) of the ballast tank (10) even without power supply, so that the underwater mobile device can float. This ensures safe escape from the water.

Here, the relief unit 60 may be configured to further include a spring 64, as shown in FIG. 3.

The spring 64 may be composed of a compression spring, and may be installed on the side of the air storage part 61b formed in the sub tank 61 to elastically support the moving valve 62. At this time, the spring 64 supports the moving valve 62 by providing a compressive elastic force together with the air contained in the air storage portion 61b to the fluid storage portion 61a filled with reserve fluid. Accordingly, as the movable valve 62 is supported toward the fluid storage portion 61a, a pressurizing action is performed on the internal reserve fluid. The elastic force of the spring 64 supporting the moving valve 62 can be released only when the fluid control valve 63 is opened.

In this way, the spring 64 supports the movable valve 62 through compression by elastic force together with the air in the air storage unit 61b, so that the movable valve 62 moves by the hydraulic pressure of the fluid storage unit 61a. You can prevent it from happening.

Ultimately, the relief unit 60 of the present invention supports the movable valve 62 with pneumatic pressure from the air stored in the air storage unit 61b and the elastic force from the spring 64, preventing the movable valve 62 from moving. By preventing this, the reserve fluid is operated to be forcibly injected through valve opening only in emergency situations, and forced operation can be maintained so as not to occur in normal times.

In addition, the spring 64 independently supports the moving valve 62 even when the air in the air storage unit 61b escapes due to the circulation of compressed air through the air pocket 11a and the air tank 54. It is possible to prevent the volume of the air storage unit (61b) from easily changing due to the pressure caused by the reserve fluid.

The operation of the balance device for underwater mobile devices according to this embodiment configured as described above will be described. Figures 4 and 5 are diagrams showing the operating state of the plunger and actuator of the balance device for underwater mobile devices according to an embodiment of the present invention, and Figures 6 and 7 are diagrams showing the balance for underwater mobile devices according to an embodiment of the present invention. This is a diagram showing the operating state of the relief unit of the device.

Referring to these drawings, the balance device for underwater mobile devices of the present invention includes a first plate 41 disposed in the first chamber 11 and the second chamber 12 of the ballast tank 10 by the actuator 50. ) and the second plate 42 are moved to adjust the volume of the air pocket (11a) by moving the first plate 41 in a direction away from or close to the partition 13, respectively.

That is, as shown in FIG. 4, when the rod 51 is operated in the left direction to move the first plate 41 in a direction away from the partition 13, the volume of the air pocket 11a increases, Air from the air tank 54 can be introduced into the air pocket (11a) through the port (11a). At this time, as the first plate 41 moves, the volume of the first water pocket (11b) decreases, contrary to the increase in volume of the air pocket (11a). That is, as the volume of the first water pocket 11b is reduced, the amount of water is reduced. At the same time, since the second plate 42 disposed in the second chamber 12 moves together with the first plate 41, the volumes of the second water pocket (12a) and the third water pocket (12b) change respectively. do. However, the second water pocket (12a) and the third water pocket (12b) allow water to enter and exit the second chamber (12) through the second communication port (32) and the third communication port (33), respectively. The volume of water received remains the same.

Accordingly, as the amount of air contained inside, especially the first chamber 11, increases and the amount of water decreases, the ballast tank 10 is converted from a neutral buoyancy state to a positive buoyancy state, and the main body of the underwater mobile device is immersed in water. It acts to lower the specific gravity and allow it to float.

On the other hand, as shown in FIG. 5, when the rod 51 is operated to the right to move the first plate 41 in a direction closer to the partition 13, the volume of the air pocket 11a decreases. do. Accordingly, the air of the air pocket (11a) can be introduced into the air tank 54 through the port (11a), and the first water pocket (11b) is formed by moving the first plate (41) into the air pocket (11a). ), while the volume decreases, the volume increases. That is, as the volume of the first water pocket 11b increases, the amount of water increases. At the same time, since the second plate 42 disposed in the second chamber 12 moves together with the first plate 41, the volumes of the second water pocket (12a) and the third water pocket (12b) change respectively. However, the amount of water contained in the second chamber 12 remains the same.

Accordingly, as the amount of air contained inside, especially the first chamber 11, decreases and the amount of water increases, the ballast tank 10 is converted from a neutral buoyancy state to a negative buoyancy state, and the main body of the underwater mobile device is immersed in water. It becomes higher than the specific gravity and acts to enable diving.

Here, according to the present invention, the space between the first plate 41 and the second plate 42, which are spaced apart from each other with respect to the partition 13, is filled with air or water, and these outer spaces are also filled with water, so the fluid Uniform pressure is applied to each of the first plate 41 and the second plate 42, and since the pressure on both spaces is the same, the mutual load action is canceled out and the plates 41, 42) can be moved.

Ultimately, in the present invention, when hydraulic operation is performed to move both plates 41 and 42 of the plunger 40 by the actuator 50, a force for easy movement is applied only with a weak driving force, thereby minimizing the force required for driving at the same time. Movement movements can be performed easily.

In particular, according to the present invention, the buoyancy state can be converted to negative buoyancy or positive buoyancy for diving or floating of an underwater mobile device only by a simple operation method of the plunger 40 and the actuator 50.

Moreover, the present invention has the advantage of being able to control not only buoyancy but also the attitude of the underwater mobile device according to changes in air and water amounts by using the plunger 40 and the actuator 50.

Meanwhile, the balance device for underwater mobile devices according to an embodiment of the present invention is equipped with a relief unit 60 that operates as an emergency system when an emergency situation such as power supply cutoff or power line short circuit occurs.

Referring to Figures 6 and 7 together with Figures 3 and 4, in the balance device for underwater mobile devices of the present invention, when the power supply is cut off, the main valve (V), which operates in a solenoid manner, quickly operates when the power supply is cut off. Because it is closed, the function of the hydraulic lines 53a and 53b that must be supplied to the actuator 50 by the fluid tank 53 is stopped.

At the same time, like the main valve (V), the fluid control valve 63 is quickly opened due to interruption of power supply, so that the relief unit 60 is operated.

That is, the relief unit 60 forcibly supplies the reserve fluid contained in the fluid storage unit 61a to the actuator 50 by means of a valve, and increases the volume of the air pocket 11a through operation by forced supply.

In other words, as shown in FIG. 6, when the movable valve 62 is supported by the spring 64 and the air of the air storage unit 61b, and the fluid control valve 63 is opened by cutting off the power supply, As shown in FIG. 7, the movable valve 62 is moved through the compressive force of the compressed air and the spring 64, and while reducing the volume of the fluid storage portion 61a, the reserve fluid contained in the fluid storage portion 61a is transferred to the emergency fluid line. It is forcibly supplied to the hydraulic cylinder (52) through (53c).

Accordingly, as shown in FIG. 4, the rod 51 is operated by the reserve fluid forcefully supplied to the hydraulic cylinder 52 to move the first plate 41 of the plunger 40 in a direction away from the partition 13. By moving it, the volume of the air pocket (11a) increases, and the ballast tank (10) becomes positive in a neutral buoyancy state as the amount of air contained inside, especially the first chamber (11) increases and the amount of water decreases. It switches to a buoyant state, and the main body of the underwater mobile device becomes lower than the specific gravity of water, allowing it to float.

Therefore, the balance device for underwater mobile devices of the present invention can generate buoyancy and float underwater without supplying emergency power in an emergency situation where power is cut off, thereby ensuring safety.

On the other hand, the balance device for an underwater mobile device of the present invention is a single ballast tank (10), an air supplier (20), a water pressure generator (30), a plunger (40), and an actuator (50) of the underwater mobile device (1). It may be configured to control buoyancy, but may also be provided as a structure composed of at least two or more units, each installed on both ends of the underwater mobile device.

That is, as shown in Figure 1, the balance device for underwater mobile devices according to another embodiment of the present invention includes an additional ballast tank (10'), an air supply (20'), a water pressure generator (30'), a plunger (40'), and It may be configured to include an actuator 50'. At this time, the additional components may have the same configuration and operation as the components according to the above-described embodiment. Therefore, detailed descriptions related to these configurations and operations will be omitted.

The balance device for an underwater mobile device of the present invention can control buoyancy at each of the front and rear sides of the underwater mobile device, making it possible to control the underwater mobile device to a specific posture.

In particular, if it is not simply installed one at the front and rear, but is composed of multiple pieces, such as one pair at the front and one pair at the rear, rolling, pitching, and It has the advantage of being able to perform degree-of-freedom movements such as heaving.

The above description is merely an illustrative explanation of the technical idea of the present invention, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are for illustrative purposes rather than limiting the technical idea of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.

10: Ballast tank 11: First chamber
11a: air pocket 11b: first water pocket
12: second chamber 12a: second water pocket
12b: Third water pocket 13: Partition
20: air supplier 30: water pressure generator
40: Plunger 41: First plate
42: second plate 50: actuator
51: Rod 52: Hydraulic cylinder
53: fluid tank 54: air tank
60: Relief unit 61: Sub tank
62: moving valve 63: fluid control valve
64: spring

Claims (5)

It consists of a sealed enclosure with a space inside, and is installed integrally in an underwater mobile device that moves underwater. A partition is installed inside to divide the interior into a first chamber and a second chamber, which are filled with air or underwater water. , a ballast tank in which an air pocket by filling air is formed in at least one of the first chamber and the second chamber;
An air supplier supplying air to the ballast tank;
A water pressure generator that guides water into the ballast tank to generate water pressure inside the ballast tank; and
It is movably installed in at least one of the first chamber and the second chamber of the ballast tank, divides the interior of the first chamber or the second chamber, and moves the first chamber or the second chamber. A plunger that varies the volume of the air pocket formed in; and
Includes an actuator connected to the plunger to move the plunger,
The plunger,
It includes a pair of plates that are spaced apart from each other to face both sides of the partition and are configured to line up with the partition and partition the insides of the first chamber and the second chamber, respectively,
The actuator is,
It is inserted into the inside of the ballast tank, penetrates the partition, is respectively connected to the pair of plates, is guided and moved by the partition, and moves the pair of plates inside each of the first chamber and the second chamber. simultaneously moving loads; and
It includes a hydraulic cylinder that provides driving force to the rod to move the rod,
The rod is forcibly operated by forcibly injecting a reserve fluid separately from the fluid supplied for operation of the hydraulic cylinder into the hydraulic cylinder, and the volume of the air pocket formed in the ballast tank is expanded through the forcibly operated rod. It further includes a relief unit that moves the plates in a desired direction to generate buoyancy for emergency escape in the ballast tank,
The relief unit is,
A sub-tank including an air storage unit filled with air discharged from the ballast tank and a fluid storage unit filled with the reserve fluid;
A moving valve that divides the interior of the sub-tank into the fluid storage unit and the air storage unit and is movably installed; and
A fluid control valve branched from a fluid tank that supplies the reserve fluid to the sub tank and installed in an emergency fluid line connected to the fluid storage unit. Balance device for an underwater mobile device comprising a. The method of claim 1, wherein the water pressure generator,
A first communication port installed at the bottom of the first chamber to allow water in the water to enter and exit the inside of the first chamber, and a first communication port installed at a distance from the bottom of the second chamber to allow water in the water to enter the inside of the second chamber, respectively. A balance device for an underwater mobile device including a second and third communication port for entry and exit. The method of claim 2, wherein the water pressure generator,
According to the change in the volume of the air pocket, the volume of water contained in the first chamber is varied by allowing water in the water to enter and exit through the first communication port, and the water in the water is allowed to enter and exit through the second communication port and the third communication port. A balance device for an underwater mobile device that maintains the same volume of water contained in the second chamber. delete delete

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