CN204737017U - Piston buoyancy adjustment device - Google Patents
Piston buoyancy adjustment device Download PDFInfo
- Publication number
- CN204737017U CN204737017U CN201520231344.3U CN201520231344U CN204737017U CN 204737017 U CN204737017 U CN 204737017U CN 201520231344 U CN201520231344 U CN 201520231344U CN 204737017 U CN204737017 U CN 204737017U
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- piston
- hatchcover
- frame
- block
- ball bearing
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- 239000010985 leather Substances 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 239000013535 sea water Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000007667 floating Methods 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 239000012530 fluid Substances 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000000605 extraction Methods 0.000 abstract description 3
- 239000003607 modifier Substances 0.000 abstract description 2
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 abstract 1
- 238000000034 method Methods 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses a piston buoyancy adjustment device, it includes parts such as the waterproof cabin body, piston actuating mechanism, defeated oil pipe way. The waterproof cabin body is including the waterproof cabin body, two upper and lower waterproof cabin covers and connect flange piece on the body of cabin etc. Piston actuating mechanism includes that motor, gear drive are vice, the ball transmission is vice and support piece such as frame. Defeated oil pipe way includes hydro -cylinder, valve piece, ooff valve, delivery hose and leather bag. Volume through fluid in the removal piston change entering leather bag to change the leather bag size, and then the state of drifting along of modifier. The utility model provides high energy utilization efficiency especially can prolong the duration who does not have cable equipment in the aquatic, adopt the form of piston and cylinder body, oil extraction volume and oil extraction speed are linear relation with the position and the velocity of movement of feedback piston for the state of device is easily controlled, assign oil as the medium and separate leather bag and water environment for moving part avoids corroding, thus the life of extension fixture.
Description
Technical field
The utility model relates to a kind of buoyancy regulating device, particularly relates to a kind of piston type floating control apparatus.
Background technology
Under-water robot and other underwater kits all need the degree of depth different under water to carry out work, therefore can control its plunging motion and the degree of depth with regard to needs.And be the environment of an energy supply difficulty under water, it is worthless for therefore controlling sink-float by propulsion mode initiatively.Therefore need buoyancy regulating device, realize sink-float by the mode changing buoyancy.
The method of existing buoyancy adjustment has the method for mechanical driving method, active efflux oil, throws and carry method, drainage and phase transition method etc.Common mechanical drive method carrys out the volume of modifier by the position of a series of mechanical drive change execution unit, thus controls sink-float.But because need holdout device constancy of volume within a period of time, so need mechanical self-latching structure in transmission process.The energy ecology which results in whole device is low, and waste energy is for overcoming the static friction force maintaining self-locking.The method of active efflux oil is, by hydraulic circuit, fluid is pumped into oil sac, and the hydraulic efficiency pressure system that this method uses causes added burden to device in weight, and hydraulic efficiency pressure system due to the nonlinear existence such as seepage also can to control bring extra difficulty.Throwing the method for carrying is by weight of skimming, and reduce self gravitation thus control state of drifting along, but this process is irreversible, and device can only once be risen and fallen.Drainage is the water yield being changed discharge by release and the compression of high pressure gas or sucked, the compression of high pressure gas mainly relies on the work of water pump, because gas compression processes is nonlinear and influence factor much causes controlling difficulty, and the water pump Long contact time seawater reliability low life-span is shorter.Phase transition method mainly relies on the volume change of special media in phase transition process to regulate buoyancy, but object phase transformation is complicated nonlinear thermodynamic process, and the gas that phase transformation produces easily compresses, and this just makes to control difficulty.
Summary of the invention
For the defect that prior art has, the utility model provides a kind of piston type floating control apparatus, is a kind of long service life, is easy to control and the buoyancy adjustment solution of low-power consumption.For drift along control, the Depth control etc. of underwater units.
In order to achieve the above object, the technical solution adopted in the utility model is as follows:
A kind of piston type floating control apparatus, it comprises: lower hatchcover, lower flange block, cabin body, spur gear, spur gear, motor mounting plate, motor, upper hatchcover, leather bag, valve block, electromagnetic valve, flexible pipe, cylinder body, one-piece piston, frame, guide pin bushing, ball-screw, feed screw nut, thrust ball bearing, thrust block seating, deep groove ball bearing, jam nut, supporting material, seal ring, upper flange block, control unit, Sea-water pressure sensor, oil circuit pressure sensor; Wherein, cabin body is tubulose, and its two ends outer wall has outside thread, and upper flange block and lower flange block are fixedly connected at the outer wall of two ends up and down of cabin body respectively by screw thread; Between lower hatchcover and cabin body, between upper hatchcover and cabin body, be provided with seal ring; Lower hatchcover and lower flange block are fixedly connected, and upper hatchcover and upper flange block are fixedly connected; One end of flexible pipe is connected with leather bag through upper hatchcover; Lower hatchcover has boss structure, is used for carrying out circumference location to supporting material; Motor is arranged in frame by motor mounting plate; First spur gear and motor output shaft connect, and the second spur gear and ball-screw connect, the first spur gear and the second spur gear engaged transmission, and its transmitting ratio is 1:1; Ball-screw is provided with two thrust ball bearings and two deep groove ball bearings; Deep groove ball bearing is installed in the bearing hole of frame lower surface, and deep groove ball bearing bilateral symmetry is provided with two thrust block seatings; Two thrust ball bearings are arranged in two thrust block seatings respectively, the thrust ball bearing being arranged on frame lower end carries out axial location by jam nut to thrust ball bearing, and ball-screw can only rotate around himself axle under the constraint of deep groove ball bearing, thrust ball bearing and jam nut; One-piece piston is fixed on feed screw nut, feed screw nut and ball-screw engaged transmission; Guide pin bushing is fixedly connected in frame; Guide pin bushing is tubular, and its internal via shape is identical with the piston rod shape of one-piece piston, is used for guiding the axial rotation moving axially and limit one-piece piston of one-piece piston; Frame upper surface has boss, coordinates with inner surface of cylinder block, and for the location of cylinder body, cylinder body and frame connect; Be provided with a back-up block between frame and lower hatchcover, back-up block and frame connect; Leather bag is connected in upper-deck cabin by gas thread and covers, and is communicated with electromagnetic valve by the other end of flexible pipe; Electromagnetic valve is connected with cylinder body by valve block, and described valve block is the derby that inside has runner; Sea-water pressure sensor, oil circuit pressure sensor, motor are all connected with control unit with electromagnetic valve.
Described control unit comprises micro controller system, power module, reset circuit, jtag circuit, AD conversion module, clock circuit, external eeprom memory and communication module; Power module is connected with the power supply input pin of micro controller system, reset circuit is connected with the reseting pin of micro controller system, jtag circuit is connected with 5 I/O pin of micro controller system, AD conversion module, clock circuit and external eeprom memory are all connected with the I2C pin of micro controller system by I2C universal serial bus, and communication module is connected with singlechip chip by two communication pins; Sea-water pressure sensor is all connected with AD conversion module with oil circuit pressure sensor, and motor and electromagnetic valve are all connected with the output pin of micro controller system.
The utility model is compared with background technology, and the beneficial effect had is:
1, adopt electromagnetic valve to lock the fluid in leather bag and instead of the very low mechanical self-locking transmission mode of the driving efficiency such as self-locking thread, inclined-plane, thus improve energy utilization efficiency, especially can extend the continuation of the journey without cable equipment in water.
2, be the form of piston and cylinder due to what adopt, position and the kinematic velocity of the piston of oil drain quantity and oil extraction speed and feedback are linear, make the state of device be easy to control.
3, the utility model is separated as medium oil by leather bag and water environment, and movable parts can be made like this to avoid corrosion, thus makes device prolongation in service life.
Accompanying drawing explanation
Fig. 1 is the normal axomometric drawing of hatchcover under the utility model;
Fig. 2 is the normal axomometric drawing of the utility model supporting material;
Fig. 3 is the utility model cabin body detail drawing;
Fig. 4 is the normal axomometric drawing of the utility model frame;
Fig. 5 is the utility model cylinder body detail drawing;
Fig. 6 is hatchcover cutaway view on the utility model;
Fig. 7 is the normal axomometric drawing of the utility model one-piece piston;
Fig. 8 is the cutaway view of the utility model guide pin bushing;
Fig. 9 is the birds-eye view of the utility model guide pin bushing;
Figure 10 is the utility model transmission principle figure;
Figure 11 is the utility model assembly drowing;
Figure 12 is partial enlarged drawing of the present utility model;
Figure 13 is that the utility model control unit connects block diagram;
In figure, lower hatchcover 1, lower flange block 2, cabin body 3, first spur gear 4, second spur gear 5, motor mounting plate 6, motor 7, upper hatchcover 8, leather bag 9, valve block 10, electromagnetic valve 11, flexible pipe 12, cylinder body 13, one-piece piston 14, frame 15, guide pin bushing 16, ball-screw 17, feed screw nut 18, thrust ball bearing 19, thrust block seating 20, deep groove ball bearing 21, jam nut 22, supporting material 23, seal ring 24, upper flange block 25.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
As shown in Fig. 1-Figure 13, the utility model comprises lower hatchcover 1, lower flange block 2, cabin body 3, first spur gear 4, second spur gear 5, motor mounting plate 6, motor 7, upper hatchcover 8, leather bag 9, valve block 10, electromagnetic valve 11, flexible pipe 12, cylinder body 13, one-piece piston 14, frame 15, guide pin bushing 16, ball-screw 17, feed screw nut 18, thrust ball bearing 19, thrust block seating 20, deep groove ball bearing 21, jam nut 22, supporting material 23, seal ring 24, upper flange block 25, control unit, Sea-water pressure sensor, oil circuit pressure sensor.Wherein, cabin body 3 is tubulose, and its two ends outer wall has outside thread, and upper flange block 25 and lower flange block 2 are fixedly connected at the outer wall of two ends up and down of cabin body 3 respectively by screw thread; Between lower hatchcover 1 and cabin body 3, be provided with seal ring 24 between upper hatchcover 8 and cabin body 3, lower hatchcover 1 and lower flange block 2 are fixedly connected by screw, and upper hatchcover 8 is fixedly connected by screw with upper flange block 25; One end of flexible pipe 12 is connected with leather bag 9 through upper hatchcover 8; Lower hatchcover 1 has boss structure, is used for carrying out circumference location to supporting material 23; Motor 7 is arranged in frame 15 by motor mounting plate 6; First spur gear 4 and motor 7 output shaft connect, and the second spur gear 5 and ball-screw 17 connect, the first spur gear 4 and the second spur gear 5 engaged transmission, and its transmitting ratio is 1:1; Ball-screw 17 is provided with two thrust ball bearings 19 and two deep groove ball bearings 21; Deep groove ball bearing 21 is installed in the bearing hole of frame 15 lower surface, and deep groove ball bearing 21 bilateral symmetry is provided with two thrust block seatings 20; Two thrust ball bearings 19 are arranged in two thrust block seatings 20 respectively, the thrust ball bearing 19 being arranged on frame 15 lower end carries out axial location by jam nut 22 pairs of thrust ball bearings 19, and ball-screw 17 can only rotate around himself axle under the constraint of deep groove ball bearing 21, thrust ball bearing 19 and jam nut 22; One-piece piston 14 is fixed by screws on feed screw nut 18, feed screw nut 18 and ball-screw 17 engaged transmission; Guide pin bushing 16 is fixedly connected in frame 15 by screw; Guide pin bushing 16 is tubular, and its internal via shape is identical with the piston rod shape of one-piece piston 14, is used for guiding the axial rotation moving axially and limit one-piece piston 14 of one-piece piston 14; Frame 15 upper surface has boss, coordinates with cylinder body 13 inside face, and for the location of cylinder body 13, cylinder body 13 and frame 15 connect; Be provided with a back-up block 23 between frame 15 and lower hatchcover 1, back-up block 23 and frame 15 connect; Leather bag 9 is connected on upper hatchcover 8 by gas thread, and is communicated with electromagnetic valve 11 by the other end of flexible pipe 12; Electromagnetic valve 11 is connected with cylinder body 13 by valve block 10, and valve block 10 is the inner derby having runner; Sea-water pressure sensor, oil circuit pressure sensor, motor 7 are all connected with control unit with electromagnetic valve 11.
As shown in figure 13, control unit comprises micro controller system, power module, reset circuit, jtag circuit, AD conversion module, clock circuit, external eeprom memory and communication module; Power module is connected with the power supply input pin of micro controller system, reset circuit is connected with the reseting pin of micro controller system, jtag circuit is connected with 5 I/O pin of micro controller system, AD conversion module, clock circuit and external eeprom memory are all connected with the I2C pin of micro controller system by I2C universal serial bus, and communication module is connected with singlechip chip by two communication pins; Sea-water pressure sensor is all connected with AD conversion module with oil circuit pressure sensor, and motor 7 is all connected with the output pin of micro controller system with electromagnetic valve 11, and communication module is connected to upper computer by two differential signal lines.
Single-chip Controlling motor 7 and electromagnetic valve 11, make it all be in opening, and now, the power of motor 7 is delivered on ball-screw 17 by meshed transmission gear; Ball-screw 17 rotate through feed screw nut 18 and ball-screw 17 engaged transmission, rotation is changed into one-piece piston 14 perpendicular movement; Under the guiding of guide pin bushing 16, oil pressure enters in leather bag 9 by one-piece piston 14 upward movement, and now, the volume of leather bag 9 increases, and makes the buoyancy of device be greater than gravity, and therefore device floats.Sea water advancedly to be directly proportional to sea pressure, sea pressure is converted to voltage signal by Sea-water pressure sensor, and change analog quantity into digital quantity by A/D module, just micro controller system is input to, the depth information that micro controller system feeds back according to Sea-water pressure sensor, transmitted the instruction come simultaneously according to upper computer by communication module, motor 7 and electromagnetic valve 11 are controlled.
In like manner, Single-chip Controlling electromagnetic valve 11, makes the inner space of its leather bag 9 and cylinder body 13, Single-chip Controlling motor 7 simultaneously, when making it not start or reverse, one-piece piston 14 just moves down, and the oil of leather bag 9 is back in cylinder body 13, now, leather bag 9 compresses by external pressure, and fluid flows in cylinder body 13 from leather bag 9, and the volume of leather bag 9 reduces, make the buoyancy of device be less than gravity, therefore device sinks.
By the adjustment of micro controller system to electromagnetic valve 11 switching time, oil can be regulated from leather bag 9 to flow into the speed of cylinder body 13, thus the speed that control apparatus floats or sinks.If in sinking watching, when outside insufficient pressure is to make fluid enter cylinder body 13, now, Single-chip Controlling motor 7 makes it rotate backward.As needed holding device constancy of volume, micro controller system only needs Controlling solenoid valve 11 and motor 7 to be in closed condition simultaneously, and now, oil circuit is just locked, and fluid will be stayed in leather bag 9, and leather bag 9 constancy of volume, suffered by device, buoyancy is also constant.
In addition, in all working process, for security consideration, when the oil circuit pressure of oil circuit pressure sensor feedback exceedes specified value, micro controller system carries out emergency operation and to leave unused current all tasks, stops motor 7, shut electromagnetic valve 11, and by communication module by exception reporting to upper computer.
Claims (2)
1. a piston type floating control apparatus, it is characterized in that, it comprises: lower hatchcover (1), lower flange block (2), cabin body (3), first spur gear (4), second spur gear (5), motor mounting plate (6), motor (7), upper hatchcover (8), leather bag (9), valve block (10), electromagnetic valve (11), flexible pipe (12), cylinder body (13), one-piece piston (14), frame (15), guide pin bushing (16), ball-screw (17), feed screw nut (18), thrust ball bearing (19), thrust block seating (20), deep groove ball bearing (21), jam nut (22), supporting material (23), seal ring (24), upper flange block (25), control unit, Sea-water pressure sensor, oil circuit pressure sensor, wherein, cabin body (3) is tubulose, and its two ends outer wall has outside thread, and upper flange block (25) and lower flange block (2) are fixedly connected at the outer wall of two ends up and down of cabin body (3) respectively by screw thread, between lower hatchcover (1) and cabin body (3), between upper hatchcover (8) and cabin body (3), be provided with seal ring (24), lower hatchcover (1) and lower flange block (2) are fixedly connected, and upper hatchcover (8) and upper flange block (25) are fixedly connected, one end of flexible pipe (12) is connected with leather bag (9) through upper hatchcover (8), lower hatchcover (1) has boss structure, is used for carrying out circumference location to supporting material (23), motor (7) is arranged in frame (15) by motor mounting plate (6), first spur gear (4) and motor (7) output shaft connect, and the second spur gear (5) and ball-screw (17) connect, the first spur gear (4) and the second spur gear (5) engaged transmission, and its transmitting ratio is 1:1, ball-screw (17) is provided with two thrust ball bearings (19) and two deep groove ball bearings (21), deep groove ball bearing (21) is installed in the bearing hole of frame (15) lower surface, and deep groove ball bearing (21) bilateral symmetry is provided with two thrust block seatings (20), two thrust ball bearings (19) are arranged in two thrust block seatings (20) respectively, the thrust ball bearing (19) being arranged on frame (15) lower end carries out axial location by jam nut (22) to thrust ball bearing (19), and ball-screw (17) can only rotate around himself axle under the constraint of deep groove ball bearing (21), thrust ball bearing (19) and jam nut (22), one-piece piston (14) is fixed on feed screw nut (18), feed screw nut (18) and ball-screw (17) engaged transmission, guide pin bushing (16) is fixedly connected in frame (15), guide pin bushing (16) is tubular, and its internal via shape is identical with the piston rod shape of one-piece piston (14), be used for guide one-piece piston (14) the axial rotation moving axially and limit one-piece piston (14), frame (15) upper surface has boss, coordinates with cylinder body (13) inside face, and for the location of cylinder body (13), cylinder body (13) and frame (15) connect, be provided with a supporting material (23) between frame (15) and lower hatchcover (1), supporting material (23) and frame (15) connect, leather bag (9) is connected on upper hatchcover (8) by gas thread, and is communicated with electromagnetic valve (11) by the other end of flexible pipe (12), electromagnetic valve (11) is connected with cylinder body (13) by valve block (10), and described valve block (10) is the inner derby having runner, Sea-water pressure sensor, oil circuit pressure sensor, motor (7) are all connected with control unit with electromagnetic valve (11).
2. a kind of piston type floating control apparatus according to claim 1, is characterized in that described control unit comprises micro controller system, power module, reset circuit, jtag circuit, AD conversion module, clock circuit, external eeprom memory and communication module; Power module is connected with the power supply input pin of micro controller system, reset circuit is connected with the reseting pin of micro controller system, jtag circuit is connected with 5 I/O pin of micro controller system, AD conversion module, clock circuit and external eeprom memory are all connected with the I2C pin of micro controller system by I2C universal serial bus, and communication module is connected with singlechip chip by two communication pins; Sea-water pressure sensor is all connected with AD conversion module with oil circuit pressure sensor, and motor (7) is all connected with the output pin of micro controller system with electromagnetic valve (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520231344.3U CN204737017U (en) | 2015-04-16 | 2015-04-16 | Piston buoyancy adjustment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520231344.3U CN204737017U (en) | 2015-04-16 | 2015-04-16 | Piston buoyancy adjustment device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204737017U true CN204737017U (en) | 2015-11-04 |
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ID=54418765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520231344.3U Active CN204737017U (en) | 2015-04-16 | 2015-04-16 | Piston buoyancy adjustment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204737017U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828222A (en) * | 2015-04-16 | 2015-08-12 | 浙江大学 | Piston-type buoyancy adjusting device |
| CN105775080A (en) * | 2016-02-02 | 2016-07-20 | 浙江大学 | Ocean submersible vehicle buoyancy adjusting device using seawater |
-
2015
- 2015-04-16 CN CN201520231344.3U patent/CN204737017U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828222A (en) * | 2015-04-16 | 2015-08-12 | 浙江大学 | Piston-type buoyancy adjusting device |
| CN105775080A (en) * | 2016-02-02 | 2016-07-20 | 浙江大学 | Ocean submersible vehicle buoyancy adjusting device using seawater |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |