WO2017066906A1 - 水下机器人自排油式浮力调节装置 - Google Patents

水下机器人自排油式浮力调节装置 Download PDF

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Publication number
WO2017066906A1
WO2017066906A1 PCT/CN2015/092177 CN2015092177W WO2017066906A1 WO 2017066906 A1 WO2017066906 A1 WO 2017066906A1 CN 2015092177 W CN2015092177 W CN 2015092177W WO 2017066906 A1 WO2017066906 A1 WO 2017066906A1
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WIPO (PCT)
Prior art keywords
valve block
port
lower valve
oil
pressure sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/092177
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English (en)
French (fr)
Inventor
康昌霖
周春琳
朱琦
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Zhejiang University ZJU
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Zhejiang University ZJU
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Publication date
Application filed by Zhejiang University ZJU filed Critical Zhejiang University ZJU
Priority to US15/326,475 priority Critical patent/US10308334B2/en
Priority to PCT/CN2015/092177 priority patent/WO2017066906A1/zh
Publication of WO2017066906A1 publication Critical patent/WO2017066906A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers

Definitions

  • the invention relates to a buoyancy adjusting device, in particular to a self-discharging buoyancy adjusting device for an underwater robot.
  • Underwater robots and other underwater equipment need to work at different depths in the water, so it is necessary to control their ups and downs and depth.
  • underwater is an environment in which energy supply is difficult, so it is not advisable to control ups and downs by active propulsion. Therefore, a buoyancy adjusting device is required to achieve the ups and downs by changing the buoyancy.
  • the existing methods of buoyancy adjustment include mechanical transmission method, active pumping method, throwing method, drainage method, and phase change method.
  • the mechanical transmission method controls the ups and downs by changing the position of the actuator by a series of mechanical transmissions to change the position of the actuator.
  • a mechanical self-locking structure is required in the transmission process. This results in inefficient use of energy throughout the device, wasting energy to overcome the static friction that maintains self-locking.
  • the mechanical transmission method requires a transmission part, so changing the same buoyancy compared to other methods requires a heavier body weight and a larger device volume.
  • the operation of the mechanical parts of the piston is a change in the position between the rigid body and the rigid body, which makes the sealing problem more difficult to solve under other conditions in the case of underwater pressure, reducing the reliability of the device.
  • the basic principle of the existing large-scale piston buoyancy adjusting device is that the motor is driven by a screw or the like to drive the piston to change the volume of liquid (may be seawater or oil) in the piston cylinder.
  • This type of sealing problem with repeated movement between the piston and the cylinder wall can make the entire device unreliable.
  • the method of actively pumping oil is to pump oil into the oil sac through the hydraulic oil passage, and change the drainage volume by changing the volume of the oil sac, thereby changing the buoyancy.
  • This method like the mechanical transmission method, also needs to address the ability of the device to maintain a constant volume for a period of time. Therefore, the conventional hydraulic system has a complicated valve system, which increases the weight and volume of the device.
  • all the existing oil circuits are doing work when discharging oil, that is, passive oil discharge, and according to the selection of the one-way pump and the two-way pump, it can be divided into active oil return and passive oil return.
  • the problem with the passive oil draining active oil return scheme is that the active oil return will fail when the shallower external pressure is less than the flow path flow resistance.
  • the problem with the passive oil return passive oil return scheme is that the two-way pump is required.
  • the two-way pump of the same pressure flow is higher in cost and volume than the one-way pump, and the hydraulic pump is turned on when returning and draining, resulting in more energy consumption.
  • the bidirectional pump is not reversed and can not be switched quickly, which affects the control performance.
  • the throwing method is to control the floating state by throwing away heavy objects and reducing their own gravity.
  • Drainage method is to change the amount of water discharged or inhaled by the release and compression of high-pressure gas.
  • the compression of high-pressure gas mainly depends on the work of the pump. Because the gas compression process is nonlinear and the influencing factors are many, the control is difficult, and the pump is exposed to seawater for a long time. Low life and short life.
  • the phase change method mainly relies on the volume change of the special medium in the phase change process to adjust the buoyancy.
  • the phase transformation of the object is a complex nonlinear thermodynamic process, and the gas generated by the phase change is easy to compress, which makes the control difficult.
  • the present invention provides a self-discharging buoyancy adjusting device for an underwater robot, which is stable in operation, easy to control, can realize fast switching of oil discharge and oil return, low power consumption and compact structure.
  • Light weight and small volume buoyancy adjustment solution Used for floating and sinking control, depth control, etc. of underwater equipment.
  • an underwater robot self-discharging buoyancy adjusting device comprising: an accumulator, a lower hatch, a lower valve block, a hydraulic control check valve, an upper valve block, Pump port pressure sensor, accumulator pressure sensor, depth pressure sensor, hydraulic pump motor assembly, reversing valve, relief valve, control panel, tank, upper hatch, skin, waterproof joint and upper computer;
  • the accumulator, the lower hatch, the tank, the upper hatch and the skin are fixedly connected in turn, and the waterproof joint is fixedly connected to the upper hatch;
  • the depth pressure sensor is mounted on the lower hatch for detecting the depth of the underwater pressure; the upper valve block, the hydraulic control check valve and the lower valve block are sequentially connected by the pipeline, and the lower valve block is fixed on the lower hatch;
  • the pump port pressure sensor and the accumulator pressure sensor are both mounted on the lower valve block; the reversing valve and the upper valve block are connected by a pipeline; the hydraulic pump motor assembly and the overflow valve are connected to the lower valve block through the pipeline ;
  • the depth pressure sensor, the pump port pressure sensor and the accumulator pressure sensor are all connected to the controller; the control board is respectively connected to the external power source and the host computer through the waterproof joint.
  • the upper surface of the lower valve block has a tenth oil port of a lower valve block, an eleventh oil port of the lower valve block and a twelfth oil port of the lower valve block;
  • a lower valve block has a second valve block on the side of the lower valve block Oil port, third valve port of lower valve block, fourth oil port of lower valve block, fifth oil port of lower valve block, sixth oil port of lower valve block, seventh oil port of lower valve block, eighth oil port of lower valve block And the ninth oil port of the lower valve block;
  • the first oil port of the lower valve block is opened on the lower surface of the lower valve block; the flow channel inside the lower valve block, the second oil port of the lower valve block, the third oil port of the lower valve block, and the lower valve
  • the ninth oil port and the twelfth oil port of the lower valve block are connected through the flow passage; the first oil port of the lower valve block, the seventh oil port of the lower valve block, the eighth oil port of the lower valve block, and the eleventh oil of the lower valve block
  • the first port of the lower valve block is connected to the accumulator through the lower hatch; the second port of the lower valve block and the hydraulic pump assembly
  • the oil discharge port is connected, the third oil port of the lower valve block is connected with the oil inlet of the overflow valve, the fourth oil port of the lower valve block is connected with the oil outlet of the overflow valve, and the fifth oil port of the lower valve block and the hydraulic pump
  • the oil return port of the assembly is connected, and the sixth oil port of the lower valve block is connected with the skin capsule; the seventh oil port of the lower valve block, the eighth oil port of the lower valve block and the ninth oil port of the lower valve block are all sealed;
  • the lower valve block is The ten oil port is connected to the oil return port of the hydraulic control check valve, the eleventh oil port of the lower valve block is connected with the first working port of the hydraulic control check valve, the twelfth oil port of the lower valve block and the hydraulic control check valve The oil inlets are connected.
  • the upper surface of the upper valve block is provided with an upper valve block first oil port, an upper valve block second oil port, an upper valve block third oil port, and an upper valve block fourth oil port; wherein, the reversing valve
  • the second working port is connected to the second working port of the hydraulic control check valve through the first oil port of the upper valve block, and the oil outlet of the reversing valve passes through the second oil port of the upper valve block and the oil return port of the hydraulic control check valve
  • the first working port of the reversing valve is connected to the first working port of the hydraulic control check valve through the third port of the upper valve block, and the oil inlet of the reversing valve passes through the fourth port of the upper valve block and the liquid control list Connect to the oil inlet of the valve.
  • control board includes: a first power module, a second power module, a communication driver module, a reference voltage voltage regulator module, a first filter module, a second filter module, a third filter module, an AD conversion module, and a single chip;
  • the first power module converts the external 12V power into a 12V power supply inside the control board;
  • the second power module converts the internal 12V power of the control board to a 5V power supply to supply power to the single chip; the first power module and the second power module and the reference voltage are respectively stabilized.
  • the pressure module is connected; the pump port pressure sensor, the accumulator pressure sensor, the depth pressure sensor, the hydraulic pump assembly, and the power input end of the reversing valve are all connected with the second power module; the signal line of the deep pressure sensor and the first filter module Connected; the signal line of the pump port pressure sensor is connected to the second filter module; the signal line of the accumulator pressure sensor is connected to the third filter module; the first filter module, the second filter module, the third filter module, and the reference voltage regulator
  • the modules are all connected to the AD conversion module; the AD conversion module is connected to the input end of the single chip microcomputer; the hydraulic pump assembly and the reversing valve are Thread are connected to the output of the microcontroller; drive module connected to the communication with the microcontroller; power module is connected to a first power supply line via waterproof connectors and an external power supply; drive module is connected via the communication signal line waterproof connector PC.
  • the present invention has the following beneficial effects:
  • the accumulator uses the characteristics of the accumulator to achieve passive oil return from active drainage, while reducing energy consumption and improving energy utilization, it also avoids the problem of active oil return failure when the shallow external pressure is less than the flow path resistance. Compared with the existing hydraulic solution, it not only prolongs the life time in the water, but also increases the stability. At the same time, it can realize the fast switching between the two states of oil discharge and oil return. And the use of an accumulator as a standardized product reduces the cost and supply of the entire device.
  • the oil circuit is simplified; and the hydraulic control check valve is used to build The self-locking oil circuit cooperates with it to reduce the leakage of the accumulator inside the oil passage and improve the safety without affecting the function realization; and the total volume of the oil pipeline assembly is reduced by the integrated design of the valve block. To make the device compact.
  • Figure 1 is a schematic view of the outline of the present invention
  • Figure 2 is a schematic view of the axial test explosion assembly of the present invention (deoiling pipe);
  • Figure 3 is a schematic cross-sectional view showing the lower hatch of the present invention.
  • Figure 4 is a schematic cross-sectional view showing the upper hatch of the present invention.
  • Figure 5 is a schematic cross-sectional view showing the casing of the present invention.
  • Figure 6 is a schematic view showing the outline of a lower valve block of the present invention.
  • Figure 7 is a cutaway plan view of the lower valve block of the present invention.
  • Figure 8 is a schematic cross-sectional view showing the upper valve block of the present invention.
  • FIG. 9 is a block diagram showing the connection of each module of the control board of the present invention.
  • FIG. 10 is a working principle diagram of the present invention.
  • Figure 11 is a hydraulic oil circuit connection diagram of the present invention.
  • the present invention includes an accumulator 1, a lower hatch 2, a lower valve block 3, a hydraulically controlled check valve 4, an upper valve block 5, a first oil pipe joint 6, and a second oil pipe joint 7 , the third oil pipe joint 8, the fourth oil pipe joint 9, the fifth oil pipe joint 10, the sixth oil pipe joint 11, the seventh oil pipe joint 12, the eighth oil pipe joint 13, the ninth oil pipe joint 14, the tenth oil pipe joint 15, the first An oil circuit plug 16, a second oil circuit plug 17, Third oil circuit plug 18, pump port pressure sensor 19, accumulator pressure sensor 20, depth pressure sensor 21, hydraulic pump motor assembly 22, reversing valve 23, relief valve 24, control panel 25, first bolt 26.
  • the skin bag 32 is a skin bag for an NXQ1 type accumulator, but is not limited thereto.
  • the lower hatch 2 is a flange-like structure, and a cylindrical body having an external thread is integrally formed at a lower geometric center thereof; a lower threaded blind hole is formed on the upper surface of the lower hatch 2, and one is used for mounting.
  • the taper pipe threaded through hole of the depth pressure sensor 21 and the geometric center are formed with through holes; the upper side of the lower hatch 2 is machined with a groove for accommodating the seal ring; the flange of the lower hatch 2 is uniformly machined in the circumferential direction.
  • the through holes and the four through holes for the external connection; the accumulator 1 is connected to the cylinder having the external thread at the lower portion of the lower hatch 2.
  • the upper hatch 31 is a flange-like structure, and a cylindrical body having an external thread is integrally formed at an upper geometric center thereof; a lower side of the upper hatch 31 is formed with a groove for accommodating a seal ring,
  • the flange of the hatch 31 is uniformly provided with eight through holes and four through holes for external connection;
  • the skin 32 is connected to a cylinder having an external thread at the upper portion of the upper hatch 31;
  • the geometric center of the upper hatch 31 A threaded hole is formed for mounting the tenth oil pipe joint 15; a boss is provided at a non-geometric center of the upper surface of the upper hatch 31, and a through hole is formed in the geometric center of the boss for mounting the waterproof joint 33.
  • the canister 30 has a cylindrical structure with flanges at both ends, and grooves on both flange faces are formed for accommodating the sealing ring, and eight through holes are uniformly distributed on both ends of the flange at both ends.
  • the eight through holes on the upper end flange correspond to the eight through holes on the flange of the upper hatch 31, the eight through holes on the lower end flange and the eight through holes on the flange of the lower hatch 2 Corresponding.
  • the lower valve block 3 has four positioning through holes, and the upper surface of the lower valve block 3 has two taper pipe threads for mounting the pump port pressure sensor 19 and the accumulator pressure sensor 20. hole;
  • the upper surface of the lower valve block 3 is provided with a lower valve block ten port 44, a lower valve block eleven port 45 and a lower valve block twelfth port 46;
  • the lower valve block 3 has a lower valve block on the side thereof Oil port 36, lower valve block third oil port 37, lower valve block fourth oil port 38, lower valve block fifth oil port 39, lower valve block sixth oil port 40, lower valve block seventh oil port 41, lower a valve block eighth port 42 and a lower valve block ninth port 43;
  • a lower valve block first port 35 is opened on the lower surface of the lower valve block 3; a lower flow block inside the lower valve block 3, and a second port of the lower valve block 36.
  • the third valve port 37 of the lower valve block, the ninth port 43 of the lower valve block, and the twelfth port 46 of the lower valve block are connected by a flow passage;
  • the lower valve block seventh oil port 41, the lower valve block eighth oil port 42 and the lower valve block eleven oil port 45 are connected by a flow passage;
  • the sixth valve port 40 of the lower valve block and the tenth oil port 44 of the lower valve block are connected by a flow passage;
  • the lower valve block first port 35 is connected to the accumulator 1 through a through hole at the geometric center of the lower hatch 2; the lower valve block second port 36 is connected to the first oil pipe joint 6, and the lower valve block third port 37 is connected to the second oil pipe joint 7, the fourth oil port 38 of the lower valve block is connected to the third oil pipe joint 8, the fifth oil port 39 of the lower valve block is connected with the fourth oil pipe joint 9, and the sixth oil port 40 of the lower valve block is The fifth oil pipe joint 10 is connected; the seventh oil port 41 of the lower valve block is connected to the first oil circuit plug 16, the eighth oil port 42 of the lower valve block is connected with the second oil circuit plug 17, and the ninth port of the lower valve block 43 is connected with the third oil passage plug 18; the tenth oil port 44 of the lower valve block is connected with the oil return port of the hydraulic control check valve 4, and the eleventh oil port 45 of the lower valve block and the liquid control check valve 4 are A working port is connected, and the twelfth port 46 of the lower valve block is connected to the oil inlet of
  • the upper valve block 5 has four positioning through holes; the upper surface of the upper valve block 5 has an upper valve block first oil port 47, an upper valve block second oil port 48, and an upper valve block third oil. Port 49, upper valve block fourth port 50; upper valve block 5 has four flow paths, the first flow path on the upper valve block 5 is connected to the upper valve block first port 47, and the upper valve block 5 is second.
  • Flow passage and upper valve block second oil port 48, third flow path on upper valve block 5 and upper valve block third oil port 49, fourth flow path on upper valve block 5 and upper valve block fourth oil port 50, four flow passages at the lower surface outlet of the upper valve block 5 have a recess for mounting a sealing ring;
  • the upper valve block first oil port 47 is connected to the ninth oil pipe joint 14
  • the upper valve block second oil port 48 is connected to the eighth oil pipe joint 13
  • the upper valve block third oil port 49 is connected to the seventh oil pipe joint 12, and the upper valve is connected.
  • the fourth oil port 50 of the block is connected to the sixth oil pipe joint 11.
  • the accumulator 1 is screwed to the lower cylinder of the lower hatch 2; the upper hatch 31 is fixedly attached to the upper end of the casing 30 by bolts, and the lower hatch 2 is fixed by bolts.
  • the skin bag 32 is screwed to the upper cylinder of the upper hatch 31, and the waterproof joint 33 is fixed to the boss of the upper surface of the upper hatch 31 by a nut 34, and the tenth oil pipe joint 15 is screwed to the geometric center of the lower surface of the upper hatch 31;
  • the depth pressure sensor 21 is mounted on the taper pipe threaded through hole on the lower hatch 2; the first bolt 26, the second bolt 27, the third bolt 28, and the fourth bolt 29 are sequentially passed through the upper valve block 5, and the hydraulic control is unidirectional
  • the positioning through hole on the valve 4 and the lower valve block 3 is fixedly connected with the lower hatch 2; after the upper valve block 5, the hydraulically controlled check valve 4 and the lower valve block 3 are pressed and fixed, the lower valve block first port 35 Connected to the through hole at the geometric center of the lower hatch 2;
  • the upper valve block first port 47 is connected to the second working port of the pilot operated check valve 4 through the first flow path on the upper valve block 5, the upper valve block
  • the second oil port 48 is connected to the oil return port of the hydraulic control check valve 4 through the second flow path on the upper valve block 5, and the third oil port 49 of the upper valve block passes through the third flow path on the upper valve block 5 and the liquid control
  • the upper valve block fourth port 50 is connected to the oil
  • the oil discharge port of the hydraulic pump assembly 22 and the first oil pipe joint 6 are connected by a oil pipe, and the oil return port of the hydraulic pump assembly 22 and the fourth oil pipe joint 9 are connected through the oil pipe, the oil inlet port of the overflow valve 24 and the second oil pipe
  • the joint 7 is connected by an oil pipe
  • the oil outlet of the relief valve 24 and the third oil pipe joint 8 are connected by an oil pipe
  • the fifth oil pipe joint 10 and the tenth oil pipe joint 15 are connected by a fuel pipe
  • the sixth oil pipe joint 11 and the reversing valve 23 are connected.
  • the oil inlet is connected, the seventh oil pipe joint 12 is connected to the first working port of the reversing valve 23, the eighth oil pipe joint 13 is connected to the oil outlet of the reversing valve 23, and the ninth oil pipe joint 14 and the reversing valve 23 are The two working ports are connected; the control board 25 is mounted on the lower hatch 2.
  • the control board 25 includes: a first power module, a second power module, a communication driver module, a reference voltage voltage regulator module, a first filter module, a second filter module, a third filter module, and an AD conversion module.
  • the single chip device has an isolation function, and converts the external 12V power supply into a 12V power supply inside the control board; the second power supply module converts the internal 12V power supply of the control board outputted by the first power module into a 5V power supply, and supplies power to the single chip microcomputer.
  • the first power module is respectively connected to the second power module and the reference voltage regulator module; the power input of the pump port pressure sensor 19, the accumulator pressure sensor 20, the depth pressure sensor 21, the hydraulic pump assembly 22, and the reversing valve 23
  • the terminal is connected to the second power module; the signal line of the depth pressure sensor 21 is connected to the first filter module; the signal line of the pump port pressure sensor 19 is connected to the second filter module; the signal line of the accumulator pressure sensor 20 and the third
  • the filtering module is connected; the first filtering module, the second filtering module, the third filtering module, and the reference voltage voltage regulator module are all connected with the AD conversion module; the first filtering The module, the second filtering module and the third filtering module are used for suppressing high frequency noise, and the useful low frequency signal can pass, thereby improving the measurement accuracy; the reference voltage voltage regulator module provides an accurate reference voltage for the AD conversion module; the AD conversion module and the single chip microcomputer
  • the input ends of the hydraulic pump assembly 22 and the reversing valve 23 are connected to the output end of
  • the signal is transmitted to the host computer;
  • the first power module is connected to the external power source through the power line of the waterproof connector 33;
  • the communication driver module is connected to the host computer through the signal line of the waterproof connector 33;
  • MICROCHIP model is PIC18F45K50, but not limited to this;
  • the first power module and the second power module use GODSEND DCDC power module, the models are WD12-12S12 and WD12-12S05, but not limited to this; reference voltage regulator
  • the module uses TI's REF5050 chip, but is not limited to this;
  • the communication driver module uses MAXIM's DS275;
  • the first filter module, the second filter module and the third filter module all adopt the MAX291 product of the MAXIM, but are not limited thereto;
  • the AD conversion module can adopt the TI model THS107, but is not limited thereto.
  • the pressure measurement result of the accumulator pressure sensor 20 is converted into a digital input to the single-chip microcomputer by the AD module, and converted into the volume of the skin capsule 32 according to the gas state equation; and since the depth of the seawater is proportional to the pressure
  • the pressure measurement result of the depth pressure sensor 21 can be converted into a depth after being converted into a digital input to the single chip by the AD module; based on the above two measured values, the single chip decision is to increase or decrease the volume of the skin 32, or to maintain the volume unchanged.
  • changing the drainage volume has changed the buoyancy and achieving the floating and sinking control.
  • the control board 25 When it is required to reduce the volume of the skin 32, the control board 25 outputs a control signal to the hydraulic pump assembly 22 and the reversing valve 23; the hydraulic pump assembly 22 is activated to pump the oil (if it is activated, it remains activated), The reversing valve 23 is switched to the left position; at this time, the skin bag 32 is connected to the oil return port of the hydraulic pump assembly 22, and the oil outlet of the hydraulic pump assembly 22 is connected to the accumulator 1, and the hydraulic oil flows in the direction and the liquid.
  • the control check valve 4 is the same, the pilot operated check valve 4 is opened, and the oil in the bladder 32 is pumped into the accumulator 1 by the hydraulic pump assembly 22, and the volume of the bladder 32 is reduced.
  • the control board 25 When it is required to increase the volume of the skin 32, the control board 25 outputs a control signal to the hydraulic pump assembly 22 and the reversing valve 23; the hydraulic pump assembly 22 is activated to pump the oil (if it is activated, it remains activated), The reversing valve 23 is switched to the right position; at this time, the hydraulic pump assembly 22 outlet is connected to the hydraulic control check valve 4 and blocked, the relief valve 24 is connected in parallel with the hydraulic pump assembly 22, and the bladder 32 is hydraulically controlled.
  • the check valve 4 is directly connected to the accumulator 1.
  • the pilot operated check valve 4 is opened such that the bladder 32 communicates with the accumulator 1 and the oil is discharged from the accumulator under the pressure of the gas in the accumulator 1. 1 Entering the skin 32, the volume of the skin 32 is increased. At the same time, because the oil outlet of the hydraulic pump assembly 22 is blocked, the hydraulic pump assembly 22 is recirculated through the relief valve 24.
  • the first method is achieved by controlling the reversing valve 23.
  • the connection of the accumulator 1 to the other oil passages is cut off, so that the oil cannot enter and exit the accumulator 1.
  • the second method is by controlling the hydraulic pump assembly 22.
  • the control panel 25 continues to adjust the rotational speed of the hydraulic pump assembly 22 by the pressure information fed back by the pump port pressure sensor 19 to maintain the pump port pressure of the hydraulic pump assembly 22. Meanwhile, for safety reasons, when the pressure fed back by the pump port pressure sensor 19 exceeds a prescribed value, the control board 25 should perform all operations for the emergency operation, stop the hydraulic pump assembly 22, switch the reversing valve 23 to the neutral position, and Report anomalies to the upper computer.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

一种水下机器人自排油式浮力调节装置，蓄能器（1）、下舱盖（2）、舱筒（30）、上舱盖（31）和皮囊（32）依次固定连接，防水接头（33）固定连接在上舱盖（31）上；深度压力传感器（21）安装在下舱盖（2）上，用于检测水下深度压力；上阀块（5）、液控单向阀（4）和下阀块（3）通过管路依次相连，下阀块（3）固定在下舱盖（2）上；泵口压力传感器（19）和蓄能器压力传感器（20）均安装于下阀块（3）上；换向阀（23）与上阀块（5）通过管路相连；液压泵电机总成（22）和溢流阀（24）均通过管路与下阀块（3）相连；深度压力传感器（21）、泵口压力传感器（19）和蓄能器压力传感器（20）均与控制器（25）相连；控制板（25）通过防水接头（33）分别与外部电源和上位机相连。该调节装置采用完全的液压方案，具有结构紧凑、可以实现主动排油被动回油、节能等效果。

Description

水下机器人自排油式浮力调节装置 技术领域
本发明涉及一种浮力调节装置，尤其涉及一种水下机器人自排油式浮力调节装置。
背景技术
水下机器人以及其他水下装备都需要在水下不同的深度进行工作，因此就需要能对其沉浮运动和深度进行控制。而且水下是一个能量补给困难的环境，因此通过主动的推进方式控制沉浮是不可取的。因此需要浮力调节装置，通过改变浮力的方式来实现沉浮。
已有的浮力调节的方法有机械传动法、主动泵油的方法、抛载法、排水法以及相变法等。
机械传动法通过一系列机械传动改变执行部件的位置来改变装置的体积，从而控制沉浮。但因为需要在一段时间内维持装置体积不变，所以传动过程中需要有机械自锁结构。这就导致了整个装置的能量使用效率低下，浪费能量用于克服维持自锁的静摩擦力。同时，机械传动法因为需要有传动零件，所以与其他方法相比改变相同的浮力需要更重的机体重量和更大的装置体积。另外，通过活塞机械部件的执行操作是刚体与刚体之间位置的变化，这使得在水下受压的情况下密封问题变得相对其他方法更难解决，降低了装置的可靠性。比如现有的一大类活塞式浮力调节装置基本原理都是电机通过螺杆等方式传动以驱动活塞改变活塞缸内液体(可能是海水也可能是油)体积。这种方式活塞和缸壁之间反复运动下的密封问题会使整个装置变得不可靠。
主动泵油的方法是通过液压油路将油液泵入油囊，通过改变油囊体积改变排水体积，进而改变浮力。这种方法也和机械传动法一样也需要解决装置在一段时间内维持体积不变的锁止能力。因此传统的液压系统都有复杂的阀路系统，增加了装置的重量和体积。同时，现有的所有油路都在排油时做功的，也即被动排油，并依据选用的是单向泵和双向泵，可以分为主动回油和被动回油。被动排油主动回油方案的问题在于当深度较浅外界压力小于流道流阻时主动回油会失效。被动排油被动回油方案的问题在于需要使用双向泵，相同压力流量的双向泵在成本重量体积上都高于单向泵，而回油和排油时都要开启液压泵导致更加耗能，且双向泵正反转不能快速切换，影响控制性能。
抛载法是通过抛去重物，减小自身重力从而控制浮沉状态，然而这一过程是不可逆的，使得装置只能进行一次沉浮。排水法是通过高压气体的释放和压缩改变排出或吸入的水量，高压气体的压缩主要依靠水泵的工作，由于气体压缩过程是非线性的且影响因素很多导致控制困难，且水泵长时间接触海水可靠性低寿命较短。相变法主要是依靠特殊介质在相变过程中的体积变化来调节浮力，然而物体相变是复杂的非线性的热力学过程，且相变产生的气体易压缩，这就使得控制困难。
发明内容
针对现有技术所具有的缺陷，本发明提供了一种水下机器人自排油式浮力调节装置，是一种工作稳定，易于控制，可以实现排油回油快速切换，低功耗且结构紧凑重量轻体积小的浮力调节解决方案。用于水下装置的浮沉控制、定深控制等。
为了达到上述目的，本发明采用的技术方案如下：一种水下机器人自排油式浮力调节装置，包括：蓄能器、下舱盖、下阀块、液控单向阀、上阀块、泵口压力传感器、蓄能器压力传感器、深度压力传感器、液压泵电机总成、换向阀、溢流阀、控制板、舱筒、上舱盖、皮囊、防水接头和上位机；其中，
所述蓄能器、下舱盖、舱筒、上舱盖和皮囊依次固定连接，防水接头固定连接在上舱盖上；
所述深度压力传感器安装在下舱盖上，用于检测水下深度压力；上阀块、液控单向阀和下阀块通过管路依次相连，下阀块固定在下舱盖上；
所述泵口压力传感器和蓄能器压力传感器均安装于下阀块上；换向阀与上阀块通过管路相连；液压泵电机总成和溢流阀均通过管路与下阀块相连；
所述深度压力传感器、泵口压力传感器和蓄能器压力传感器均与控制器相连；控制板通过防水接头分别与外部电源和上位机相连。
进一步的，所述下阀块上表面开有下阀块第十油口、下阀块第十一油口和下阀块第十二油口；下阀块的侧面开有下阀块第二油口、下阀块第三油口、下阀块第四油口、下阀块第五油口、下阀块第六油口、下阀块第七油口、下阀块第八油口和下阀块第九油口；在下阀块下表面开有下阀块第一油口；下阀块内部有流道，下阀块第二油口、下阀块第三油口、下阀块第九油口、下阀块第十二油口通过流道相连；下阀块第一油口、下阀块第七油口、下阀块第八油口、下阀块第十一油口通过流道相连；下阀块第四油口、下阀块第五油口、下阀块第六油口、下阀块第十油口通过流道相连；
下阀块第一油口通过下舱盖与蓄能器相连；下阀块第二油口与液压泵总成 的排油口相连，下阀块第三油口与溢流阀的进油口相连，下阀块第四油口与溢流阀的出油口相连，下阀块第五油口与液压泵总成的回油口相连，下阀块第六油口与皮囊相连；下阀块第七油口、下阀块第八油口和下阀块第九油口均封死；下阀块第十油口与液控单向阀的回油口相连，下阀块第十一油口与液控单向阀的第一工作口相连，下阀块第十二油口和液控单向阀的进油口相连。
进一步的，所述上阀块上表面开有上阀块第一油口、上阀块第二油口、上阀块第三油口、上阀块第四油口；其中，换向阀的第二工作口通过上阀块第一油口与液控单向阀的第二工作口相连，换向阀的出油口通过上阀块第二油口与液控单向阀的回油口相连，换向阀的第一工作口通过上阀块第三油口与液控单向阀的第一工作口相连，换向阀的进油口通过上阀块第四油口与液控单向阀的进油口相连。
进一步的，控制板包括：第一电源模块、第二电源模块、通讯驱动模块、参考电压稳压模块、第一滤波模块、第二滤波模块、第三滤波模块、AD转换模块和单片机；其中，所述第一电源模块将外部12V电源转成控制板内部12V电源；第二电源模块将控制板内部12V电源转5V电源，为单片机供电；第一电源模块分别与第二电源模块和参考电压稳压模块相连；泵口压力传感器、蓄能器压力传感器、深度压力传感器、液压泵总成、换向阀的电源输入端均与第二电源模块相连；深度压力传感器的信号线与第一滤波模块相连；泵口压力传感器的信号线与第二滤波模块相连；蓄能器压力传感器的信号线与第三滤波模块相连；第一滤波模块、第二滤波模块、第三滤波模块、参考电压稳压模块均与AD转换模块相连；AD转换模块与单片机的输入端相连；液压泵总成、换向阀的控制线均与单片机的输出端相连；通讯驱动模块与单片机相连；第一电源模块通过防水接头的电源线与外部电源相连；通讯驱动模块通过防水接头的信号线与上位机相连。
本发明与背景技术相比，具有的有益效果是：
1、采用完全的液压方案，除了泵和电机没有运动部件，所有关键密封都采用静密封，相对机械传动方法有更高的密封可靠性，并获得了更长的寿命。
2、利用蓄能器的特点，实现主动排油被动回油，在达到降低能耗提高能源利用率的同时还避免了当深度较浅外界压力小于流道流阻时主动回油失效的问题。相对于现有液压解决方案来说，既延长了水中续航时间，又增加了稳定性，同时又可实现排油回油两种状态的快速切换。且使用蓄能器这一标准化产品降低了整个装置的成本和供应难度。
3、通过使用换向阀、溢流阀，简化了油路；且通过使用液控单向阀并搭建 与其配合的自锁油路，在不影响功能实现的基础上减少了蓄能器在油路内部的泄漏，并提高了安全性；并且通过对阀块的集成设计减小了油路装配总体积，使装置变得紧凑。
附图说明
图1为本发明的外形示意图；
图2为本发明(除油管)的轴测爆炸装配示意图；
图3为本发明的下舱盖剖切外形示意图；
图4为本发明的上舱盖剖切外形示意图；
图5为本发明的舱筒剖切外形示意图；
图6为本发明的下阀块外形示意图；
图7为本发明的下阀块剖切俯视图；
图8为本发明的上阀块剖切外形示意图；
图9为本发明的控制板各模块连接框图；
图10为本发明的工作原理图；
图11为本发明的液压油路连接图；
图中，蓄能器1、下舱盖2、下阀块3、液控单向阀4、上阀块5、第一油管接头6、第二油管接头7、第三油管接头8、第四油管接头9、第五油管接头10、第六油管接头11、第七油管接头12、第八油管接头13、第九油管接头14、第十油管接头15、第一油路堵头16、第二油路堵头17、第三油路堵头18、泵口压力传感器19、蓄能器压力传感器20、深度压力传感器21、液压泵电机总成22、换向阀23、溢流阀24、控制板25、第一螺栓26、第二螺栓27、第三螺栓28、第四螺栓29、舱筒30、上舱盖31、皮囊32、防水接头33、螺母34、下阀块第一油口35、下阀块第二油口36、下阀块第三油口37、下阀块第四油口38、下阀块第五油口39、下阀块第六油口40、下阀块第七油口41、下阀块第八油口42、下阀块第九油口43、下阀块第十油口44、下阀块第十一油口45、下阀块第十二油口46、上阀块第一油口47、上阀块第二油口48、上阀块第三油口49、上阀块第四油口50。
具体实施方式
下面结合附图和实施例对本发明作进一步的说明。
如图1-图11所示，本发明包括蓄能器1、下舱盖2、下阀块3、液控单向阀4、上阀块5、第一油管接头6、第二油管接头7、第三油管接头8、第四油管接头9、第五油管接头10、第六油管接头11、第七油管接头12、第八油管接头13、第九油管接头14、第十油管接头15、第一油路堵头16、第二油路堵头17、 第三油路堵头18、泵口压力传感器19、蓄能器压力传感器20、深度压力传感器21、液压泵电机总成22、换向阀23、溢流阀24、控制板25、第一螺栓26、第二螺栓27、第三螺栓28、第四螺栓29、舱筒30、上舱盖31、皮囊32、防水接头33、螺母34和若干油管；其中，液控单向阀4可以采用型号为MPCV-02W的叠加式液控单向阀，但不限于此；防水接头33可以采用型号为BH5F的产品，但不限于此；蓄能器1采用凯力德型号为AD1.4-140-2x的隔膜蓄能器；泵口压力传感器19、蓄能器压力传感器20、深度压力传感器21均采用康宇测控的KYB2003-04M1P3C1-I(0-1.6MPa)压力变送器，但不限于此；皮囊32采用NXQ1型蓄能器所用皮囊，但不限于此。
如图3所示，下舱盖2为法兰盘状结构，其下部几何中心处一体成型有具有外螺纹的圆柱体；下舱盖2上表面加工有四个螺纹盲孔、一个用于安装深度压力传感器21的锥管螺纹通孔和几何中心处加工有通孔；下舱盖2上部侧面加工有用于容纳密封圈的凹槽；下舱盖2的法兰盘周向上均布加工有8个通孔和用于外部连接的4个通孔；蓄能器1与下舱盖2的下部具有外螺纹的圆柱体相连。
如图4所示，上舱盖31为法兰盘状结构，其上部几何中心处一体成型有具有外螺纹的圆柱体；上舱盖31的下部侧面加工有用于容纳密封圈的凹槽，上舱盖31的法兰上均布有8个通孔和用于外部连接的4个通孔；皮囊32与上舱盖31的上部具有外螺纹的圆柱体相连；上舱盖31的几何中心处加工有螺纹孔，用于安装第十油管接头15；在上舱盖31的上表面非几何中心处具有凸台，凸台几何中心加工有通孔，用于安装防水接头33。
如图5所示，舱筒30为两端具有法兰的圆筒状结构，两端法兰面上均加工有用于容纳密封圈的凹槽，两端法兰圆周均布有8个通孔，上端法兰上的8个通孔与上舱盖31的法兰上的8个通孔相对应，下端法兰上的8个通孔和下舱盖2的法兰上的8个通孔相对应。
如图6和图7所示，下阀块3上具有4个定位通孔，下阀块3的上表面具有用于安装泵口压力传感器19和蓄能器压力传感器20的两个锥管螺纹孔；
下阀块3上表面开有下阀块第十油口44、下阀块第十一油口45和下阀块第十二油口46；下阀块3的侧面开有下阀块第二油口36、下阀块第三油口37、下阀块第四油口38、下阀块第五油口39、下阀块第六油口40、下阀块第七油口41、下阀块第八油口42和下阀块第九油口43；在下阀块3下表面开有下阀块第一油口35；下阀块3内部有流道，下阀块第二油口36、下阀块第三油口37、下阀块第九油口43、下阀块第十二油口46通过流道相连；下阀块第一油口35、 下阀块第七油口41、下阀块第八油口42、下阀块第十一油口45通过流道相连；下阀块第四油口38、下阀块第五油口39、下阀块第六油口40、下阀块第十油口44通过流道相连；
下阀块第一油口35通过下舱盖2的几何中心处的通孔与蓄能器1相连；下阀块第二油口36与第一油管接头6相连，下阀块第三油口37与第二油管接头7相连，下阀块第四油口38与第三油管接头8相连，下阀块第五油口39与第四油管接头9相连，下阀块第六油口40与第五油管接头10相连；下阀块第七油口41与第一油路堵头16相连，下阀块第八油口42与第二油路堵头17相连，下阀块第九油口43与第三油路堵头18相连；下阀块第十油口44与液控单向阀4的回油口相连，下阀块第十一油口45与液控单向阀4的第一工作口相连，下阀块第十二油口46和液控单向阀4的进油口相连。
如图8所示，上阀块5上具有4个定位通孔；上阀块5上表面开有上阀块第一油口47、上阀块第二油口48、上阀块第三油口49、上阀块第四油口50；上阀块5上具有四条流道，上阀块5上的第一流道与上阀块第一油口47相连，上阀块5上的第二流道与上阀块第二油口48，上阀块5上的第三流道与上阀块第三油口49，上阀块5上的第四流道与上阀块第四油口50，四条流道在上阀块5的下表面出口处具有用于安装密封圈的凹台；
上阀块第一油口47与第九油管接头14相连，上阀块第二油口48与第八油管接头13相连，上阀块第三油口49与第七油管接头12相连，上阀块第四油口50与第六油管接头11相连。
如图1和2所示，蓄能器1通过螺纹旋接下舱盖2的下部的圆柱体；上舱盖31通过螺栓固定连接在舱筒30的上端，下舱盖2通过螺栓固定连接在舱筒30的下端；上舱盖31和下舱盖2与舱筒30之间的密封形式同时采用端面密封和径向密封；皮囊32通过螺纹旋接上舱盖31上部的圆柱体，防水接头33通过螺母34固定于上舱盖31上表面的凸台处，第十油管接头15通过螺纹安装于上舱盖31下表面几何中心处；
深度压力传感器21安装在下舱盖2上的锥管螺纹通孔上；第一螺栓26、第二螺栓27、第三螺栓28、第四螺栓29均依次穿过上阀块5、液控单向阀4和下阀块3上的定位通孔与下舱盖2固定连接；在上阀块5、液控单向阀4和下阀块3压紧固定后，下阀块第一油口35与下舱盖2的几何中心处的通孔相连；上阀块第一油口47通过上阀块5上的第一流道与液控单向阀4的第二工作口相连，上阀块第二油口48通过上阀块5上的第二流道与液控单向阀4的回油口相连，上阀块第三油口49通过上阀块5上的第三流道与液控单向阀4的第一工作口， 上阀块第四油口50通过上阀块5上的第四流道与液控单向阀4的进油口相连；泵口压力传感器19和蓄能器压力传感器20均安装于下阀块3上表面的锥管螺纹孔处；液压泵电机总成22、换向阀23、溢流阀24均安装在上阀块5上；
液压泵总成22的排油口和第一油管接头6通过油管相连，液压泵总成22的回油口和第四油管接头9通过油管相连，溢流阀24的进油口和第二油管接头7通过油管相连，溢流阀24的出油口和第三油管接头8通过油管相连，第五油管接头10和第十油管接头15通过油管相连，第六油管接头11与换向阀23的进油口相连，第七油管接头12与换向阀23的第一工作口相连，第八油管接头13与换向阀23的出油口相连，第九油管接头14与换向阀23的第二工作口相连；控制板25安装在下舱盖2上。
如图9所示，控制板25包括：第一电源模块、第二电源模块、通讯驱动模块、参考电压稳压模块、第一滤波模块、第二滤波模块、第三滤波模块、AD转换模块和单片机；其中，所述第一电源模块起隔离作用，将外部12V电源转成控制板内部12V电源；第二电源模块将第一电源模块输出的控制板内部12V电源转成5V电源，为单片机供电；第一电源模块分别与第二电源模块和参考电压稳压模块相连；泵口压力传感器19、蓄能器压力传感器20、深度压力传感器21、液压泵总成22、换向阀23的电源输入端均与第二电源模块相连；深度压力传感器21的信号线与第一滤波模块相连；泵口压力传感器19的信号线与第二滤波模块相连；蓄能器压力传感器20的信号线与第三滤波模块相连；第一滤波模块、第二滤波模块、第三滤波模块、参考电压稳压模块均与AD转换模块相连；第一滤波模块、第二滤波模块和第三滤波模块用于抑制高频噪声，有用的低频信号可以通过，从而提高测量精度；参考电压稳压模块为AD转换模块提供精准的参考电压；AD转换模块与单片机的输入端相连；液压泵总成22、换向阀23的控制线均与单片机的输出端相连；通讯驱动模块与单片机相连；通讯驱动模块接收来自单片机的通讯信号，并在保持信号不变的情况下增大信号功率，将信号传输给上位机；第一电源模块通过防水接头33的电源线与外部电源相连；通讯驱动模块通过防水接头33的信号线与上位机相连；所述单片机可以采用MICROCHIP公司型号为PIC18F45K50的产品，但不限于此；第一电源模块和第二电源模块使用GODSEND的DCDC电源模块，其型号分别为WD12-12S12和WD12-12S05，但不限于此；参考电压稳压模块使用TI的REF5050芯片，但不限于此；通讯驱动模块使用MAXIM的DS275；第一滤波模块、第二滤波模块和第三滤波模块均采用型号为MAXIM的MAX291的产品，但不限于此；AD转换模块可以采用TI公司型号为THS107的产品，但不限于此。
本水下机器人自排油式浮力调节装置的工作过程：
如图10和图11所示，蓄能器压力传感器20的压力测量结果经AD模块转换为数字量输入到单片机，并根据气体状态方程换算成皮囊32的体积；同时由于海水深度与压力成正比，深度压力传感器21的压力测量结果经AD模块转换为数字量输入到单片机后可换算为深度；基于以上两个测量值，单片机决策是增大或减少皮囊32的体积，或维持体积不变，从而改变排水体积已改变浮力，实现浮沉控制。
当需要减小皮囊32体积时，由控制板25输出控制信号给液压泵总成22和换向阀23；启动液压泵总成22，使其泵油(如已启动则保持启动状态)，将换向阀23切换到左位；此时，皮囊32接在液压泵总成22的回油口上，而液压泵总成22的出油口与蓄能器1相连，且液压油流动方向与液控单向阀4相同，液控单向阀4打开，皮囊32内的油液在液压泵总成22的作用下泵入蓄能器1，皮囊32的体积减小。
当需要增大皮囊32体积时，由控制板25输出控制信号给液压泵总成22和换向阀23；启动液压泵总成22，使其泵油(如已启动则保持启动状态)，将换向阀23切换到右位；此时，液压泵总成22出油口与液控单向阀4相连并被堵住，溢流阀24与液压泵总成22并联，皮囊32经过液控单向阀4与蓄能器1直接相连。因为液压泵总成22已经启动，建立了压力，所以打开液控单向阀4，使得皮囊32与蓄能器1连通，在蓄能器1内气体的压力作用下，油液从蓄能器1进入皮囊32内，皮囊32体积增大。同时，因为液压泵总成22的出油口被堵，液压泵总成22通过溢流阀24回流。
当需要保持皮囊32体积不变时，有两种方法实现，不同情况使用适合的方法。方法一是通过控制换向阀23实现。切换至换向阀23的中位时，切断了蓄能器1与其他油路的联系，使得油液无法进出蓄能器1。且在液控单向阀4的作用下，更减少了因为换向阀23阀芯缝隙带来的油路泄漏。方法二是通过控制液压泵总成22。停止液压泵总成22时，由于没有建立压力皮囊32内的油液不能进入蓄能器1，同时没有压力无法逆向打开液控单向阀4，使得油液不能从蓄能器1流入皮囊32。
另外，在减小皮囊32体积的工作过程中，控制板25通过泵口压力传感器19反馈的压力信息持续对液压泵总成22的转速进行调节以保持液压泵总成22泵口压力不变。同时，出于安全考虑，在泵口压力传感器19反馈的压力超过规定值时，控制板25应进行紧急操作闲置当前所有任务，停止液压泵总成22，切换换向阀23至中位，并向上位机报告异常情况。

Claims (4)

  1. 一种水下机器人自排油式浮力调节装置，其特征在于，包括：蓄能器(1)、下舱盖(2)、下阀块(3)、液控单向阀(4)、上阀块(5)、泵口压力传感器(19)、蓄能器压力传感器(20)、深度压力传感器(21)、液压泵电机总成(22)、换向阀(23)、溢流阀(24)、控制板(25)、舱筒(30)、上舱盖(31)、皮囊(32)、防水接头(33)和上位机等；其中，
    所述蓄能器(1)、下舱盖(2)、舱筒(30)、上舱盖(31)和皮囊(32)依次固定连接，防水接头(33)固定连接在上舱盖(31)上；
    所述深度压力传感器(21)安装在下舱盖(2)上，用于检测水下深度压力；上阀块(5)、液控单向阀(4)和下阀块(3)通过管路依次相连，下阀块(3)固定在下舱盖(2)上；
    所述泵口压力传感器(19)和蓄能器压力传感器(20)均安装于下阀块(3)上；换向阀(23)与上阀块(5)通过管路相连；液压泵电机总成(22)和溢流阀(24)均通过管路与下阀块(3)相连；
    所述深度压力传感器(21)、泵口压力传感器(19)和蓄能器压力传感器(20)均与控制器(25)相连；控制板(25)通过防水接头(33)分别与外部电源和上位机相连。
  2. 如权利要求1所述的水下机器人自排油式浮力调节装置，其特征在于，所述下阀块(3)上表面开有下阀块第十油口(44)、下阀块第十一油口(45)和下阀块第十二油口(46)；下阀块(3)的侧面开有下阀块第二油口(36)、下阀块第三油口(37)、下阀块第四油口(38)、下阀块第五油口(39)、下阀块第六油口(40)、下阀块第七油口(41)、下阀块第八油口(42)和下阀块第九油口(43)；在下阀块(3)下表面开有下阀块第一油口(35)；下阀块(3)内部有流道，下阀块第二油口(36)、下阀块第三油口(37)、下阀块第九油口(43)、下阀块第十二油口(46)通过流道相连；下阀块第一油口(35)、下阀块第七油口(41)、下阀块第八油口(42)、下阀块第十一油口(45)通过流道相连；下阀块第四油口(38)、下阀块第五油口(39)、下阀块第六油口(40)、下阀块第十油口(44)通过流道相连；
    下阀块第一油口(35)通过下舱盖(2)与蓄能器(1)相连；下阀块第二油口(36)与液压泵总成(22)的排油口相连，下阀块第三油口(37)与溢流阀(24)的进油口相连，下阀块第四油口(38)与溢流阀(24)的出油口相连， 下阀块第五油口(39)与液压泵总成(22)的回油口相连，下阀块第六油口(40)与皮囊(32)相连；下阀块第七油口(41)、下阀块第八油口(42)和下阀块第九油口(43)均封死；下阀块第十油口(44)与液控单向阀(4)的回油口相连，下阀块第十一油口(45)与液控单向阀(4)的第一工作口相连，下阀块第十二油口(46)和液控单向阀(4)的进油口相连。
  3. 如权利要求2所述的水下机器人自排油式浮力调节装置，其特征在于，所述上阀块(5)上表面开有上阀块第一油口(47)、上阀块第二油口(48)、上阀块第三油口(49)、上阀块第四油口(50)；其中，换向阀(23)的第二工作口通过上阀块第一油口(47)与液控单向阀(4)的第二工作口相连，换向阀(23)的出油口通过上阀块第二油口(48)与液控单向阀(4)的回油口相连，换向阀(23)的第一工作口通过上阀块第三油口(49)与液控单向阀(4)的第一工作口相连，换向阀(23)的进油口通过上阀块第四油口(50)与液控单向阀(4)的进油口相连。
  4. 如权利要求1所述的水下机器人自排油式浮力调节装置，其特征在于，控制板(25)包括：第一电源模块、第二电源模块、通讯驱动模块、参考电压稳压模块、第一滤波模块、第二滤波模块、第三滤波模块、AD转换模块和单片机；其中，所述第一电源模块将外部12V电源转成控制板内部12V电源；第二电源模块将控制板内部12V电源转成5V电源，为单片机供电；第一电源模块分别与第二电源模块和参考电压稳压模块相连；泵口压力传感器(19)、蓄能器压力传感器(20)、深度压力传感器(21)、液压泵总成(22)、换向阀(23)的电源输入端均与第二电源模块相连；深度压力传感器(21)的信号线与第一滤波模块相连；泵口压力传感器(19)的信号线与第二滤波模块相连；蓄能器压力传感器(20)的信号线与第三滤波模块相连；第一滤波模块、第二滤波模块、第三滤波模块、参考电压稳压模块均与AD转换模块相连；AD转换模块与单片机的输入端相连；液压泵总成(22)、换向阀(23)的控制线均与单片机的输出端相连；通讯驱动模块与单片机相连；第一电源模块通过防水接头(33)的电源线与外部电源相连；通讯驱动模块通过防水接头(33)的信号线与上位机相连。
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