CN105620696B - A kind of buoyancy regulating device - Google Patents
A kind of buoyancy regulating device Download PDFInfo
- Publication number
- CN105620696B CN105620696B CN201610147200.9A CN201610147200A CN105620696B CN 105620696 B CN105620696 B CN 105620696B CN 201610147200 A CN201610147200 A CN 201610147200A CN 105620696 B CN105620696 B CN 105620696B
- Authority
- CN
- China
- Prior art keywords
- casing
- case
- adjustment unit
- notch
- pushing away
- 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.)
- Expired - Fee Related
Links
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000013575 regulation of buoyancy Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
It is an object of the invention to provide a kind of buoyancy regulating device,Including casing,First adjustment unit,Second adjustment unit,Housing plate,First adjustment unit includes pushing away case,Rotating driving device,The both sides of casing are provided with notch,Case is pushed away to be located in the notch of casing side,Elastomeric bladder is wrapped in the exposed junction for pushing away case and is fixed on the notch periphery of the casing side,The openend installation for pushing away case pushes away case end cap,Push away and guide rail is set on case end cap,Housing plate is fixed on the top of casing,Rotating driving device is fixed in casing,One end connection rotating driving device of power transmission shaft,The other end connection housing plate of power transmission shaft,Push rod is arranged on power transmission shaft,The end of push rod is connected with sliding block,Chute is set on sliding block,Chute is engaged with guide rail,Second adjustment unit is identical with the first adjustment unit structure,It is symmetrically mounted in the notch of casing opposite side.The present invention can be independently operated, in the equipment for being also mounted in and need buoyancy adjustment and use.
Description
Technical field
The present invention relates to a kind of underwater robot, specifically submerged buoyancy adjusting means.
Background technology
Buoyancy regulating device is a kind of visual plant in robot field, be submarine navigation device etc. some need buoyancy to adjust
The important component of equipment is saved, current buoyancy regulating device is mainly oil sac formula, but oil-pocket buoyancy regulation device knot
Structure is complicated and reaction speed is slow, in order to improve the underwater operation efficiency of buoyancy regulating device, design it is a kind of simple in construction and
It is significant to respond fast buoyancy regulating device.
The content of the invention
It is an object of the invention to provide simple in construction, fast response time, functional reliability it is high, easy installation and removal one
Kind buoyancy regulating device.
The object of the present invention is achieved like this：
A kind of buoyancy regulating device of the present invention, it is characterized in that：Including casing, the first adjustment unit, the second adjustment unit, case
Body end lid, first adjustment unit include pushing away case, pushing away case end cap, elastomeric bladder, rotating driving device, power transmission shaft, push rod, cunning
Block, the both sides of casing are provided with notch, and the case that pushes away of the first adjustment unit is located in the notch of casing side, and elastomeric bladder, which is wrapped in, pushes away case
Exposed junction and be fixed on the notch periphery of the casing side, push away case openend installation push away case end cap, push away on case end cap set lead
Rail, housing plate are fixed on the top of casing, and rotating driving device is fixed in casing, one end connection rotation driving of power transmission shaft
Device, the other end of power transmission shaft connect housing plate by bearing, and push rod is arranged on power transmission shaft, end and the sliding block phase of push rod
Lian Bingke is relatively rotated, and chute is set on sliding block, and sliding block is engaged by chute with the guide rail on housing plate, and described second adjusts
Section unit is identical with the first adjustment unit structure, is symmetrically mounted in the notch of casing opposite side.
The present invention can also include：
1st, the pushing away for case and the second adjustment unit that push away of casing and the first adjustment unit installs dynamic seal ring, casing between case
Static sealing ring is installed between end cap and casing.
2nd, the push away case and the case that pushes away of the second adjustment unit of the first adjustment unit are hollow structure, and the two is pushed away on case end cap
It is provided with hole.
Advantage of the invention is that：
1st, simple in construction, fast response time of the invention.
2nd, the present invention can self-powered module and control module, be One function independence system, can be independently operated,
It is mounted in the equipment for need buoyancy adjustment and uses.
3rd, the case that pushes away of the invention uses hollow structure, alleviates weight, is provided with aperture on case end cap is pushed away, ensure that and push away case
With the balance of box house air pressure.
4th, it is of the invention to push away case and move simultaneously, it also can respectively move, both can guarantee that the buoyancy adjustment of whole system,
The buoyancy adjustment of one side can be completed.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the left view of the present invention；
Fig. 3 is the top view (push away case and stretch out state) of the present invention；
Fig. 4 is the three-dimensional structure sketch of internal structure of the present invention；
Fig. 5 is the three-dimensional structure sketch of casing.
Embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail：
With reference to Fig. 1~5, the present invention includes casing 1, pushes away case 2, pushes away case end cap 3, rotating driving device 4, watertight connector 5, axle
Hold support 6, control module 7, power module 8, elastomeric bladder 9, housing plate 10, static sealing ring 11, sliding block 12, bearing 13, key 14,
Power transmission shaft 15, push rod 16, bolt 17, connector 18, bolt assembly 19 and dynamic seal ring 20.Wherein：Two push away case 2 and pass through respectively
The notch of the both sides of casing 1 loads in casing 1, and can be slided along notch, is furnished with dynamic seal ring 20 at notch, pushes away case end cap
3 are arranged on the openend for pushing away case 2 by bolt 17；Elastomeric bladder 9 wraps the exposed junction for pushing away case 2, and is fixed on connector 18
The notch periphery of the both sides of casing 1, ensure the watertightness of casing 1, even if the sealing function failure of elastomeric bladder 9, dynamic seal ring 20
The watertightness of casing 1 can be ensured；Power module 8 and control module 7, which are installed in, to be pushed away inside case 2, and power line and signal wire can
Drawn by pushing away the perforate on case end cap 3；Watertight connector 5 is arranged on the rear wall of casing 1, when the device needs to connect with other equipment
When connecing, signal wire can introduce the device by watertight connector 5；Two groups of rotating driving devices 4 are each attached on the bottom surface of casing 1；
The support of bearing 6 is fixed on by bolt 17 on the end face of casing 1；Housing plate 10 is arranged on the upper port of casing 1 by bolt 17
And it is furnished with static sealing ring 11, it ensure that the watertightness of casing 1；Two power transmission shafts 15 and the axle on the support of bearing 6 and housing plate 10
13 cooperations are held, the one end of power transmission shaft 15 couples with rotating driving device 4；Two push rods 16 are separately mounted on two power transmission shafts 15, key
14 cause push rod 16 to couple with power transmission shaft 15；Two sliding blocks 12 are coordinated with the end of two push rod 16 respectively by bolt assembly 19, and
And can rotate, the guide rail that the dovetail groove on two sliding blocks 12 pushes away with two on case end cap 3 respectively coordinates.
By taking the moving component on the right side of the device as an example, when system sends floating instruction, rotating driving device 4 rotates forward
After pass motion to power transmission shaft 15, power transmission shaft 15 passes motion to push rod 16 by key 14, and the end of push rod 16 is operating
During obtain thrust, and thrust is passed to by sliding block 12 and pushes away case end cap 3, pushed away case 2 and pushing away the drive lower edge of case end cap 3
The notch linear motion of casing 1, while elastomeric bladder 9 is expanded outwardly.Push away after case 2 stretches out from casing 1, whole system
Volume increase causes the increase of displacement of volume, and then increases the buoyancy suffered by whole system, when buoyancy is more than gravity, entirely
System starts to float, until after floating to designated depth, adjustment buoyancy is equal to gravity, stable displacement of volume, hangs whole system
Float over designated depth.
By taking the moving component on the right side of the device as an example, when system sends sinking instruction, rotating driving device 4 inverts, most
Cause that pushing away case 2 is retracted into casing 1 eventually, displacement of volume reduces, and when buoyancy is less than gravity, system starts to sink, until sinking
To after designated depth, adjustment buoyancy is equal to gravity, stable displacement of volume, whole system is suspended in designated depth.
Moving component working mechanism on the left of the device is identical with right side, and the moving component of both sides can work simultaneously,
It can respectively work, both can guarantee that the buoyancy adjustment of whole system, can also complete the buoyancy adjustment of one side.
Pushing away case can slide along the notch of body side, be furnished with dynamic seal ring at notch；Elastomeric bladder, which wraps, pushes away case
Exposed junction, and the notch periphery of casing both sides is fixed on connector, ensure the watertightness of casing, even if the sealing of elastomeric bladder is made
With failure, dynamic seal ring is it is also ensured that the watertightness of casing；Power module and control module, which can be arranged on, to be pushed away inside case, electricity
Source line and signal wire can be drawn by pushing away the perforate on case end cap；Watertight connector be arranged on box body wall on, when the device need with
When other equipment connects, the signal wire of other equipment can introduce the device by watertight connector；The support of bearing is fixed on casing
On end face；Housing plate is housed at casing upper port and is furnished with static sealing ring, ensure that the watertightness of casing；Push rod, which is arranged on, to be passed
On moving axis, sliding block coordinates with push rod end, and can rotate, and the dovetail groove on sliding block and the guide rail pushed away on case end cap coordinate.
Claims (3)
1. a kind of buoyancy regulating device, it is characterized in that：Including casing, the first adjustment unit, the second adjustment unit, housing plate,
First adjustment unit includes pushing away case, pushing away case end cap, elastomeric bladder, rotating driving device, power transmission shaft, push rod, sliding block, casing
Both sides are provided with notch, and the case that pushes away of the first adjustment unit is located in the notch of casing side, and elastomeric bladder is wrapped in the exposed junction for pushing away case
And the notch periphery of the casing side is fixed on, the openend installation for pushing away case pushes away case end cap, pushes away and guide rail, cabinet end are set on case end cap
Lid is fixed on the top of casing, and rotating driving device is fixed in casing, one end connection rotating driving device of power transmission shaft, transmission
The other end of axle connects housing plate by bearing, and push rod is arranged on power transmission shaft, and the end of push rod is connected with sliding block and can phase
To rotating, on sliding block, chute is set, sliding block is engaged by chute with the guide rail on housing plate, second adjustment unit and
First adjustment unit structure is identical, is symmetrically mounted in the notch of casing opposite side.
2. a kind of buoyancy regulating device according to claim 1, it is characterized in that：Casing and the first adjustment unit push away case with
And second pushing away for adjustment unit dynamic seal ring is installed between case, static sealing ring is installed between housing plate and casing.
3. a kind of buoyancy regulating device according to claim 1 or 2, it is characterized in that：First adjustment unit pushes away case and
The case that pushes away of two adjustment units is hollow structure, and pushing away for the two is provided with hole on case end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147200.9A CN105620696B (en) | 2016-03-15 | 2016-03-15 | A kind of buoyancy regulating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147200.9A CN105620696B (en) | 2016-03-15 | 2016-03-15 | A kind of buoyancy regulating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620696A CN105620696A (en) | 2016-06-01 |
| CN105620696B true CN105620696B (en) | 2017-11-21 |
Family
ID=56036128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610147200.9A Expired - Fee Related CN105620696B (en) | 2016-03-15 | 2016-03-15 | A kind of buoyancy regulating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105620696B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113525639B (en) * | 2021-07-15 | 2022-03-08 | 哈尔滨工程大学 | Submarine sonar robot is with floating latent device |
| CN113479309B (en) * | 2021-07-22 | 2022-04-26 | 中国船舶科学研究中心 | Manned submersible unpowered trim auxiliary restraining device and operation method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN202175183U (en) * | 2011-05-13 | 2012-03-28 | 浙江大学 | Buoyancy regulating device for underwater glider |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
| CN103569335A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Weight regulating device used for gliding-type submersible vehicle |
| CN203581365U (en) * | 2013-11-15 | 2014-05-07 | 华中科技大学 | Buoyancy adjusting device of deep sea glider |
| CN205418037U (en) * | 2016-03-15 | 2016-08-03 | 哈尔滨工程大学 | Buoyancy regulating device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7921795B2 (en) * | 2007-12-27 | 2011-04-12 | Alaska Native Technologies, Llc | Buoyancy control systems and methods |
-
2016
- 2016-03-15 CN CN201610147200.9A patent/CN105620696B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870351A (en) * | 2010-06-21 | 2010-10-27 | 哈尔滨工程大学 | Deep-sea oil-pocket buoyancy regulation device |
| CN202175183U (en) * | 2011-05-13 | 2012-03-28 | 浙江大学 | Buoyancy regulating device for underwater glider |
| CN102975835A (en) * | 2012-12-03 | 2013-03-20 | 哈尔滨工程大学 | Seawater piston adjusting type gliding submarine |
| CN103569335A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Weight regulating device used for gliding-type submersible vehicle |
| CN203581365U (en) * | 2013-11-15 | 2014-05-07 | 华中科技大学 | Buoyancy adjusting device of deep sea glider |
| CN205418037U (en) * | 2016-03-15 | 2016-08-03 | 哈尔滨工程大学 | Buoyancy regulating device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105620696A (en) | 2016-06-01 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| GR01 | Patent grant | ||
| 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: 20171121 |