CN104691726A - Underwater robot buoyancy adjusting device - Google Patents
Underwater robot buoyancy adjusting device Download PDFInfo
- Publication number
- CN104691726A CN104691726A CN201310655445.9A CN201310655445A CN104691726A CN 104691726 A CN104691726 A CN 104691726A CN 201310655445 A CN201310655445 A CN 201310655445A CN 104691726 A CN104691726 A CN 104691726A
- Authority
- CN
- China
- Prior art keywords
- valve
- leather bag
- directional control
- type pump
- gear type
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention relates to support equipment of an underwater robot, in particular to an underwater robot buoyancy adjusting device, comprising a carrier shell, end covers, an inner leather barrel, an outer leather barrel, a direct current motor, a gear pump and a valve group, wherein two ends of the carrier shell are connected with the end covers to jointly define a sealed cabin in which the inner leather barrel, the direct current motor, the gear pump and the valve group are arranged; the gear pump is driven to work by the direct current motor; an oil outlet of the gear pump is in series connection with a check valve and a filter and then connected to the valve group; an oil suction port of the gear pump is in direct connection with the valve group through a pipeline; oil ports of the inner leather barrel and the outer leather barrel are connected with the valve group through the pipeline. The size of the outer leather barrel is increased as oil is injected into the outer leather barrel through the gear pump, and buoyancy is increased; hydraulic oil in the outer leather barrel flows to the inner leather barrel through water pressure or oil suction by the gear pump, the size of the outer leather barrel is decreased and the buoyancy is decreased. The underwater robot buoyancy adjusting device is simple and reliable and independent in functions, can be applied to an underwater robot as an independent module, and has advantages of small power, low energy consumption, low noise and the like.
Description
Technical field
The present invention relates to the corollary equipment of under-water robot, specifically a kind of under-water robot buoyancy regulating device.
Background technology
Under-water robot on a large scale or different depth water-area navigation time, the net buoyancy that the difference due to waters density produces is also different, and this power needs to rely on rudder power to overcome, and such under-water robot can bring extra resistance when long distance navigation, increases energy consumption.Adopt buoyancy regulating device according to the buoyancy of different waters Auto-regulating System of Density of Heavy Medium under-water robot, effectively can reduce energy consumption, increase distance to go.
At present, most of buoyancy regulating device is larger for the dependence of carrier, and commonality is poor.In order to increase the commonality of buoyancy regulating device, need to develop modularization, intelligentized buoyancy regulating device.
Summary of the invention
For floating control apparatus modularization direction, the object of the present invention is to provide a kind of under-water robot buoyancy regulating device.This buoyancy regulating device can realize modularization, less to the dependence of carrier, only need provide fixed interface; Can independently debug like this, on the under-water robot that can be applicable to dissimilar, difference in functionality and other submarine navigation devices.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes carrier shell, end cap, interior leather bag, outer leather bag, DC machine, gear type pump and valve group, wherein the two ends of carrier shell are connected to end cap, jointly form sealed module, and described interior leather bag, DC machine, gear type pump and valve group are arranged in described sealed module respectively; Described gear type pump is worked by DC motor Driver, and be connected to described valve group after the oil outlet of this gear type pump series connection check valve, filter, the oil suction of described gear type pump is by pipeline and valve group direct connection; The hydraulic fluid port of described interior leather bag and outer leather bag is connected with valve group respectively by pipeline; The volume of described outer leather bag is increased by the inside oiling of gear type pump, buoyancy increases, and the hydraulic oil of described outer leather bag flows to interior leather bag by hydraulic pressure or described gear type pump oil suction, and described crust capsule volume reduces, buoyancy reduces.
Wherein: described valve group comprises valve block and is integrated in by pass valve, solenoid directional control valve, Solenoid ball valve, the one-way throttle valve on this valve block respectively, the oil outlet series connection check valve of described gear type pump, be connected to the P mouth of solenoid directional control valve after filter, described by pass valve is in parallel with the P mouth of solenoid directional control valve, and the oil suction of described gear type pump is connected with the T mouth of solenoid directional control valve; Described inside and outside leather bag is connected to A mouth, the B mouth of solenoid directional control valve respectively by pipeline, pipeline between interior leather bag and solenoid directional control valve B mouth is in series with Solenoid ball valve, the pipeline outside between leather bag and solenoid directional control valve A mouth is in series with Solenoid ball valve and one-way throttle valve; The detection of gear that is provided with pipeline between described gear type pump and solenoid directional control valve pumps the first pressure sensor of hydraulic fluid port pressure; Pipeline between described outer leather bag and Solenoid ball valve is provided with the second pressure sensor detecting outer leather bag inner fluid pressure; Described by pass valve, solenoid directional control valve, Solenoid ball valve and one-way throttle valve are inserted valve, are integrated on described valve block together with first and second pressure sensor; Described interior leather bag is provided with the linear displacement transducer of leather bag inner fluid volume change in detecting.
Advantage of the present invention and good effect are:
1. the present invention adopts simple hydraulic principle, selects General hydraulic components and parts, and can be used as standalone module and be applied on the under-water robot of dissimilar, difference in functionality, simple and reliable, functional independence, has the advantages such as power is little, energy consumption is little, noise is low.
2. the present invention can debug separately and test, less to the dependence of under-water robot carrier.
3. the present invention is convenient installs, and is convenient to safeguard.
Accompanying drawing explanation
Fig. 1 is external perspective structural representation of the present invention;
Fig. 2 is inner structure schematic diagram of the present invention;
Fig. 3 is the structural representation of valve group of the present invention;
Fig. 4 is the structural representation of DC machine of the present invention and gear type pump;
Fig. 5 is hydraulic schematic diagram of the present invention;
Wherein: 1 is DC machine, 2 is gear type pump, and 3 is check valve, 4 is filter, and 5 is by pass valve, and 6 is compression indicator, 701 is the first pressure sensor, and 702 is the second pressure sensor, and 8 is solenoid directional control valve, 901 is the first Solenoid ball valve, and 902 is the second Solenoid ball valve, and 10 is one-way throttle valve, 11 is linear displacement transducer, 12 is interior leather bag, and 13 is outer leather bag, and 14 is valve group, 15 is erecting frame, 16 is front end cover, and 17 is valve block, and 18 is carrier shell, 19 is rear side housing, 20 is gear transmission group, and 21 is oil outlet, and 22 is casing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in figures 1-4, the present invention includes DC machine 1, gear type pump 2, check valve 3, filter 4, interior leather bag 12, outer leather bag 13, valve group 14, erecting frame 15, front end cover 16, carrier shell 18 and rear side housing 19, wherein the two ends of carrier shell 18 are sealedly connected with front end cover 16 and rear side housing 19 respectively, and together form sealed module; Outer leather bag 13 is arranged on front end cover 16, contacts with water, and all the other components and parts and framing member are in sealed module.The present invention can be used as the module of standalone feature, is installed together by other sections of forward and backward end cap 16,19 and under-water robot carrier, not by the impact of other structure of carrier.
The sealed module internal fixtion formed by the forward and backward end cap 16,19 at carrier shell 18 and two ends thereof has erecting frame 15, valve group 14 comprises valve block 17 and is integrated in by pass valve 5, first pressure sensor 701, second pressure sensor 702, solenoid directional control valve 8, first Solenoid ball valve 901, second Solenoid ball valve 902, the one-way throttle valve 10 on this valve block 17 respectively, valve block 17 is fixed on erecting frame 15, by pass valve 5, solenoid directional control valve 8, Solenoid ball valve and one-way throttle valve 10 are inserted valve, are integrated on valve block 17 together with first and second pressure sensor 701,702.Interior leather bag 12 adopts outer guiding, is fixed on erecting frame 15 by left side flange; Interior leather bag 12 is provided with the linear displacement transducer 11 of leather bag 1 inner fluid volume change in detecting.DC machine 1 and gear type pump 2 are fixed on erecting frame 15 respectively by housing 22, are provided with gear transmission group 20 in housing 22, and DC machine 1 is worked by this gear transmission group 20 driving gear pump 2.
Solenoid directional control valve 8 is three-position four-way valve, and the oil outlet 21 of gear type pump 2 is connected and is connected to the P mouth of solenoid directional control valve 8 after check valve 3, filter 4, and by pass valve 5 is in parallel with the P mouth of solenoid directional control valve 8, and the oil suction of gear type pump 2 is connected with the T mouth of solenoid directional control valve 8; Be connected with the A mouth of solenoid directional control valve 8 after the series connection of outer leather bag 13, first Solenoid ball valve 901, one-way throttle valve 10, be connected with the B mouth of solenoid directional control valve 8 after interior leather bag 12, second Solenoid ball valve 902 series connection.The detection of gear that is provided with pipeline between gear type pump 2 and solenoid directional control valve 8 pumps the first pressure sensor 701 of hydraulic fluid port pressure, and the pipeline between outer leather bag 13 and the first Solenoid ball valve 901 is provided with the second pressure sensor 702 detecting outer leather bag inner fluid pressure.
Principle of work of the present invention is:
As shown in Figure 5, when under-water robot needs to increase buoyancy, on the left of solenoid directional control valve 8, the electromagnet of electromagnet, the first Solenoid ball valve 901 and the second Solenoid ball valve 902 obtains electric, now gear type pump 2 is from oil suction in interior leather bag 12, then oiling in the left position of check valve 3, filter 4, solenoid directional control valve 8, one-way throttle valve 10, first Solenoid ball valve 901 outwards leather bag 13 successively, outer leather bag 13 volume increases, and buoyancy increases; When reaching designated value, the electromagnet power-off of electromagnet, the first Solenoid ball valve 901 and the second Solenoid ball valve 902 on the left of solenoid directional control valve 8.
When under-water robot needs to reduce buoyancy, need to determine mode of operation according to the force value of the second pressure sensor 702.When force value is less than 1MPa, need the electromagnet of electromagnet on the right side of solenoid directional control valve 8, the first Solenoid ball valve 901 and the second Solenoid ball valve 902 to obtain electric, now gear type pump 2 is from oiling in outer leather bag 13 inwardly leather bag 12; When force value is greater than 1MPa, the electromagnet of the first Solenoid ball valve 901 and the second Solenoid ball valve 902 is only needed to obtain electric, rely on hydraulic pressure that fluid is flowed back to interior leather bag 12 from outer leather bag 13 through the first Solenoid ball valve 901, one-way throttle valve 10, solenoid directional control valve 8 meta, the second Solenoid ball valve 902, outer leather bag 13 volume reduces, and buoyancy reduces; When reaching designated value, the electromagnet power-off of the first Solenoid ball valve 901 and the second Solenoid ball valve 902.The displacement that the volume of fluid change measures interior leather bag end face by the linear displacement transducer 11 be arranged on interior leather bag 12 is determined.
The present invention is when regulating buoyancy, the conversion of solenoid directional control valve 8 three control positioies is relied on to realize the flowing of fluid in interior leather bag 12 and outer leather bag 13, the change that interior leather bag fluid volume change can draw outer leather bag 13 volume measured by applicable line displacement pickup 11, thus realizes the object of fine adjustment buoyancy.
Claims (5)
1. a under-water robot buoyancy regulating device, it is characterized in that: comprise carrier shell (18), end cap, interior leather bag (12), outer leather bag (13), DC machine (1), gear type pump (2) and valve group (14), wherein the two ends of carrier shell (18) are connected to end cap, jointly form sealed module, and described interior leather bag (12), DC machine (1), gear type pump (2) and valve group (14) are arranged in described sealed module respectively; Described gear type pump (2) drives work by DC machine (1), the oil outlet (21) series connection check valve (3) of this gear type pump (2), be connected to described valve group (14) after filter (4), the oil suction of described gear type pump (2) is by pipeline and valve group (14) direct connection; The hydraulic fluid port of described interior leather bag (12) and outer leather bag (13) is connected with valve group (14) respectively by pipeline; The volume of described outer leather bag (13) is increased by the inside oiling of gear type pump (2), buoyancy increases, the hydraulic oil of described outer leather bag (13) flows to interior leather bag (12) by hydraulic pressure or described gear type pump (2) oil suction, and described outer leather bag (13) volume-diminished, buoyancy reduce.
2. by under-water robot buoyancy regulating device according to claim 1, it is characterized in that: described valve group (14) comprises valve block (17) and is integrated in by pass valve (5), solenoid directional control valve (8), Solenoid ball valve, the one-way throttle valve (10) on this valve block (17) respectively, the oil outlet (21) series connection check valve (3) of described gear type pump (2), be connected to the P mouth of solenoid directional control valve (8) after filter (4), described by pass valve (5) is in parallel with the P mouth of solenoid directional control valve (8), and the oil suction of described gear type pump (2) is connected with the T mouth of solenoid directional control valve (8); Described inside and outside leather bag (12,13) is connected to A mouth, the B mouth of solenoid directional control valve (8) respectively by pipeline, pipeline between interior leather bag (12) and solenoid directional control valve (8) B mouth is in series with Solenoid ball valve, the pipeline outside between leather bag (13) and solenoid directional control valve (8) A mouth is in series with Solenoid ball valve and one-way throttle valve (10).
3., by under-water robot buoyancy regulating device according to claim 2, it is characterized in that: the pipeline between described gear type pump (2) and solenoid directional control valve (8) is provided with the first pressure sensor (701) that detection of gear pumps hydraulic fluid port pressure; Pipeline between described outer leather bag (13) and Solenoid ball valve is provided with the second pressure sensor (702) detecting outer leather bag inner fluid pressure.
4. by under-water robot buoyancy regulating device according to claim 3, it is characterized in that: described by pass valve (5), solenoid directional control valve (8), Solenoid ball valve and one-way throttle valve (10) are inserted valve, be integrated on described valve block (17) together with first and second pressure sensor (701,702).
5. by the under-water robot buoyancy regulating device described in claim 1 or 2, it is characterized in that: the linear displacement transducer (11) described interior leather bag (12) being provided with leather bag (1) inner fluid volume change in detecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310655445.9A CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310655445.9A CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104691726A true CN104691726A (en) | 2015-06-10 |
| CN104691726B CN104691726B (en) | 2017-02-08 |
Family
ID=53339365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310655445.9A Expired - Fee Related CN104691726B (en) | 2013-12-06 | 2013-12-06 | Underwater robot buoyancy adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104691726B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN106628077A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle |
| CN108116644A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
| CN110297268A (en) * | 2019-07-19 | 2019-10-01 | 自然资源部第二海洋研究所 | Automatically the bathyseism signal pickup assembly heaved |
| CN111277079A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | Underwater robot cooling device |
| CN117465642A (en) * | 2023-11-13 | 2024-01-30 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201530467U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge-type buoyancy adjusting device used for underwater robot |
| CN201530466U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Self oil return-type buoyancy adjusting device used for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| US20120055390A1 (en) * | 2010-08-31 | 2012-03-08 | Atlas Elektronik Gmbh | Unmanned underwater vehicle and method for operating an unmanned underwater vehicle |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
-
2013
- 2013-12-06 CN CN201310655445.9A patent/CN104691726B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201530467U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge-type buoyancy adjusting device used for underwater robot |
| CN201530466U (en) * | 2009-11-27 | 2010-07-21 | 中国科学院沈阳自动化研究所 | Self oil return-type buoyancy adjusting device used for underwater robot |
| CN102079375A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院沈阳自动化研究所 | Bidirectional oil discharge type buoyancy regulating device for underwater robot |
| US20120055390A1 (en) * | 2010-08-31 | 2012-03-08 | Atlas Elektronik Gmbh | Unmanned underwater vehicle and method for operating an unmanned underwater vehicle |
| CN103303449A (en) * | 2013-05-30 | 2013-09-18 | 河北工业大学 | Underwater working robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017066906A1 (en) * | 2015-10-19 | 2017-04-27 | 浙江大学 | Automatic oil discharging type buoyancy regulating device for underwater robot |
| CN106628077A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle |
| CN108116644A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of high-precision buoyancy regulating device for autonomous underwater robot |
| CN111277079A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | Underwater robot cooling device |
| CN110297268A (en) * | 2019-07-19 | 2019-10-01 | 自然资源部第二海洋研究所 | Automatically the bathyseism signal pickup assembly heaved |
| CN110297268B (en) * | 2019-07-19 | 2024-02-23 | 自然资源部第二海洋研究所 | Automatic deep sea seismic signal acquisition device of heave |
| CN117465642A (en) * | 2023-11-13 | 2024-01-30 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
| CN117465642B (en) * | 2023-11-13 | 2024-06-14 | 博雅工道（北京）机器人科技有限公司 | Buoyancy adjusting device and underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104691726B (en) | 2017-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104691726A (en) | Underwater robot buoyancy adjusting device | |
| CN109591988B (en) | Buoyancy driving device based on marine environment parameter adjustment | |
| CN106516057B (en) | A kind of hydraulic system for adjusting complete extra large deep diving hydrophone buoyancy | |
| CN106741765B (en) | A kind of passive oil discharge-type buoyancy regulating device of underwater robot | |
| CN102079375B (en) | Bidirectional oil discharge type buoyancy regulating device for underwater robot | |
| CN102079374B (en) | Automatic oil return type buoyancy regulating device for underwater robot | |
| CN102248992B (en) | Buoyancy adjusting device for underwater glider | |
| CN108454809B (en) | A kind of automatic buoyancy of double-pump type and attitude regulating mechanism | |
| CN106143847B (en) | A kind of fluid pressure buoyancy regulating device and method | |
| CN103496443B (en) | A kind of subsea equipment buoyancy regulating system and method | |
| CN107878716B (en) | A kind of buoyancy regulating device based on sea water pump | |
| CN104670442B (en) | Modular buoyancy control unit for autonomous underwater vehicles | |
| CN106628078A (en) | Buoyancy regulating device used for deep-sea underwater glider | |
| CN103112550A (en) | Abysmal sea communication relay buoy | |
| CN106005326A (en) | Water-hydraulic buoyancy regulating system and method | |
| CN105173040A (en) | Underwater robot automatic oil discharging type buoyancy regulating device | |
| CN108016589A (en) | A kind of underwater robot Aeroassisted pumping oil formula buoyancy regulating device | |
| CN203581366U (en) | Modularized buoyancy adjusting device for autonomous underwater vehicle | |
| CN108956202A (en) | A kind of water quality sampling submariner device with depth measurement function | |
| CN108116644A (en) | A kind of high-precision buoyancy regulating device for autonomous underwater robot | |
| CN205333068U (en) | Buoy is surveyed to formula drift circulation section of controlling oneself | |
| CN106828844A (en) | A kind of buoyancy adjustment equipment | |
| CN106628077A (en) | Integrated electrochemical hydraulic buoyancy adjusting device used for underwater vehicle | |
| CN112124539A (en) | Buoyancy adjusting device for large-depth underwater robot | |
| CN102975832A (en) | Self-adjustable variable buoyancy underwater platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20171206 |