CN219008085U - Buoyancy adjusting device of underwater unmanned submersible vehicle - Google Patents

Abstract

The utility model discloses a buoyancy adjusting device of an underwater unmanned submersible vehicle, which comprises an inner oil tank, an outer leather bag, an oil discharging system and an oil returning system, wherein the oil discharging system and the oil returning system are connected between the inner oil tank and the outer leather bag; the oil discharging system comprises a motor hydraulic pump and an oil discharging oil way, the hydraulic pump is connected with an output shaft of the motor, an oil inlet of the hydraulic pump is connected with an inner oil tank, and an oil outlet of the hydraulic pump is connected with the outer skin bag through the oil discharging oil way; the oil return system comprises an oil return oil way and a low-pressure electromagnetic valve, an oil inlet of the low-pressure electromagnetic valve is connected with the outer skin bag through the oil return oil way, and an oil outlet of the low-pressure electromagnetic valve is connected with the inner oil tank; the oil return system also comprises a high-pressure electromagnetic valve which is connected with the oil return oil path in parallel with the high-pressure electromagnetic valve; the application can realize quick oil return through the low-pressure electromagnetic valve when oil return, can realize accurate oil return through the high-pressure electromagnetic valve, overcome and only rely on low drawback of low precision of low-pressure electromagnetic valve because of the oil return volume is big, the reliability obtains improving greatly.

Description

Buoyancy adjusting device of underwater unmanned submersible vehicle

Technical Field

The utility model relates to the technical field of ocean exploration equipment, in particular to an underwater unmanned submersible vehicle buoyancy adjusting device.

Background

Underwater gliders, ARGOS profile buoys, and the like are common marine detection devices. The buoyancy adjusting device is a main power component of the underwater vehicle, and the buoyancy adjusting device is used for adjusting the buoyancy of the underwater vehicle by adjusting the displacement of hydraulic oil between the outer skin bag and the inner oil tank, so that the underwater vehicle can submerge and float without adding other power devices, and the energy consumption is low and the endurance time is long.

In practical application, the underwater vehicle needs to be in a hovering state according to task requirements, which is beneficial to prolonging the endurance time of the underwater vehicle, effectively reducing self noise and improving the effective detection range. In the prior art, the hovering buoyancy of the underwater vehicle at the target depth is often determined according to the empirical value of multiple times of water drainage, so that the required oil return amount is calculated, when the underwater vehicle is submerged, the oil return is realized through a low-pressure electromagnetic valve in a buoyancy adjusting device, and the underwater vehicle stops when the preset oil return amount is reached, so that the underwater vehicle hovers at the target depth; however, because the electromagnetic valve is a large-caliber electromagnetic valve, the oil return amount in unit time is large, the precision is not high, and in practical application, the underwater vehicle cannot reach the target depth, and the reliability is poor.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide an underwater unmanned submersible vehicle buoyancy adjusting device capable of accurately returning oil.

The technical scheme adopted by the utility model is as follows:

an underwater unmanned submersible vehicle buoyancy adjusting device comprises an inner oil tank, an outer leather bag, an oil discharging system and an oil return system, wherein the oil discharging system and the oil return system are connected between the inner oil tank and the outer leather bag; the oil discharging system comprises a motor, a hydraulic pump and an oil discharging oil way, the hydraulic pump is connected with an output shaft of the motor, an oil inlet of the hydraulic pump is connected with an inner oil tank, and an oil outlet of the hydraulic pump is connected with the outer skin bag through the oil discharging oil way; the oil return system comprises an oil return oil way and a low-pressure electromagnetic valve, an oil inlet of the low-pressure electromagnetic valve is connected with the outer skin bag through the oil return oil way, and an oil outlet of the low-pressure electromagnetic valve is connected with the inner oil tank; the oil return system further comprises a high-pressure electromagnetic valve which is connected with the oil return oil path in parallel.

Further, the hydraulic pump, the high-pressure electromagnetic valve and the low-pressure electromagnetic valve are all installed on the valve block and are respectively connected with the corresponding oil discharging oil way and the corresponding oil returning oil way, and the oil discharging oil way and the oil returning oil way are connected with the inner oil tank through the connectors.

Further, the hydraulic pump is characterized by further comprising a filter, wherein the filter is a plug-in type filter, and the plug-in type filter is inserted into the valve block body, is in threaded connection with the valve block body and is positioned between the hydraulic pump and the oil discharge path.

Further, cartridge formula filter includes filter valve body, strains a section of thick bamboo, first sealing washer and second sealing washer, be equipped with the fluid passageway in the filter valve body, strain a fixed mounting filter valve body is last, and with fluid passageway intercommunication, first sealing ring snare is in the one end of filter valve body, the second sealing ring snare is in the other end of filter valve body, on the filter valve body, and be located the second sealing washer with strain and be equipped with the assembly portion between the section of thick bamboo, be equipped with the external screw thread on this assembly portion.

Further, a first groove is formed in the circumferential direction of the filter valve body and located at one end of the filter valve body, and the first sealing ring is sleeved in the first groove; the filter comprises a filter valve body, an oil liquid channel, a filter cartridge and an oil discharging oil way, wherein the filter valve body is circumferentially provided with a first groove, a second groove is arranged between the first groove and the assembly part, the oil liquid channel is axially arranged along the filter valve body, an inlet of the oil liquid channel is positioned in the second groove and is connected with the oil discharging oil way, an outlet of the oil channel is positioned at one end of the filter valve body, and the filter cartridge is fixedly installed in the second groove.

Further, a groove is formed in the inner side of the other end of the filter valve body, the second sealing ring is sleeved at the other end of the filter valve body, and after the plug-in type filter is assembled on the valve block body, the second sealing ring is pressed into the groove through the end face of the valve block body.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of a buoyancy adjusting device of an underwater unmanned submersible vehicle according to an embodiment of the present application;

FIG. 2 is a schematic view of another direction structure of the buoyancy adjusting device of the underwater unmanned submersible vehicle according to the embodiment of the present application;

FIG. 3 is a side view of an underwater unmanned submersible vehicle buoyancy adjustment device provided in an embodiment of the present application;

FIG. 4 is a sectional view of G-G of FIG. 3;

FIG. 5 is a cross-sectional H-H view of FIG. 3;

FIG. 6 is a schematic diagram of a filter according to an embodiment of the present disclosure;

fig. 7 is a cross-sectional view of a filter provided in an embodiment of the present application.

The hydraulic pump comprises a valve block 1, a connector 2, a filter 3, a filter valve body 31, an assembling part 311, a first head grass 312, a second groove 313, an oil liquid channel 314, a filter cylinder 32, a first sealing ring 33, a second sealing ring 34, a hydraulic pump 4, a pump frame 5, a motor 6, a coupler 7, a high-pressure solenoid valve 8, a low-pressure solenoid valve 9, a plug 10, an interface 11, an oil discharge oil way 12 and an oil return oil way 13.

Detailed Description

Here, it is to be noted that the functions, methods, and the like related to the present utility model are merely conventional adaptive applications of the prior art. The present utility model is therefore an improvement over the prior art in that the connection between hardware is essentially not a function, method itself, i.e. the present utility model, although it relates to a point of function, method, does not involve the improvement proposed for the function, method itself. The description of the function and the method of the utility model is for better explaining the utility model so as to better understand the utility model.

Embodiments of the technical scheme of the present utility model will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and thus are merely examples, and are not intended to limit the scope of the present utility model.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

Referring to fig. 1 to 7, the buoyancy adjusting device of the underwater unmanned submersible vehicle comprises an inner oil tank, an outer leather bag, and an oil discharging system and an oil returning system which are connected between the inner oil tank and the outer leather bag; the oil discharging system comprises a motor 6, a hydraulic pump 4 and an oil discharging oil way 12, the hydraulic pump 4 is connected with an output shaft of the motor 6, an oil inlet of the hydraulic pump 4 is connected with an inner oil tank, and an oil outlet of the hydraulic pump 4 is connected with the outer skin bag through the oil discharging oil way 12; the oil return system comprises an oil return oil way 13 and a low-pressure electromagnetic valve 9, wherein an oil inlet of the low-pressure electromagnetic valve 9 is connected with the outer skin bag through the oil return oil way 13, and an oil outlet of the low-pressure electromagnetic valve 9 is connected with the inner oil tank; the oil return system also comprises a high-pressure electromagnetic valve 8, and the high-pressure electromagnetic valve 8 and the low-pressure electromagnetic valve 9 are connected in parallel on an oil return oil way 13.

When the underwater unmanned submersible vehicle needs to float upwards, the motor 6 drives the hydraulic pump 4 to work, hydraulic oil is discharged into the outer leather bag from the inner oil tank, the drainage volume of the underwater unmanned submersible vehicle is increased, the buoyancy is increased, and the floating movement is carried out; when the underwater unmanned submersible vehicle needs to submerge, the hydraulic oil flows back into the inner oil tank from the outer skin bag through the electromagnetic valve 9 or the electromagnetic valve 8, the drainage volume of the underwater unmanned submersible vehicle is reduced, the buoyancy is reduced, and the submerged motion is performed.

This application is through addding high pressure solenoid valve 8, and this high pressure solenoid valve 8 is parallelly connected with 9 low pressure solenoid valve, when the oil return, can realize quick oil return through 9 low pressure solenoid valve, can realize accurate oil return through 8 low pressure solenoid valve, has overcome only dependence low pressure solenoid valve 9 because of the big and not high drawback of precision of oil return volume, and the reliability obtains improving greatly.

The structures of the inner oil tank and the outer leather bag are all in the prior art, and the inner oil tank can adopt a corrugated pipe oil tank disclosed by the publication number CN 212766640U. When the unmanned underwater vehicle is used, the inner oil tank is arranged in the pressure-resistant cabin of the unmanned underwater vehicle, and the outer skin bag is arranged in the soaking cabin; the pressure-resistant cabin is in a negative pressure environment slightly lower than normal pressure, and the pressure of the pressure-resistant cabin is lower than the pressure in the soaking cabin, so that hydraulic oil can automatically flow back into the inner oil tank from the outer skin bag under the unpowered condition, and the energy consumption during the backflow of the hydraulic oil is reduced.

The oil discharging system is used for discharging hydraulic oil in the inner oil tank into the outer leather bag, the motor 6 is fixed on the hydraulic pump 4 through the pump frame 5, an output shaft of the motor 6 is connected with the hydraulic pump 4 through the coupler 7, the motor 6 drives the hydraulic pump 4 to act, and the hydraulic oil is discharged into the outer leather bag from the inner oil tank.

A check valve may also be installed in the oil drain 12 to allow hydraulic oil to flow only from the inner tank into the outer bladder in the oil drain 12.

The oil return system is used for enabling hydraulic oil in the outer skin bag to flow back into the inner oil tank, the high-pressure electromagnetic valve 9 and the high-pressure electromagnetic valve 8 are connected in parallel on an oil return oil path, and the high-pressure electromagnetic valve 9 is electrified or the high-pressure electromagnetic valve 8 is electrified, so that high-oil-quantity quick oil return or low-oil-quantity accurate oil return is realized.

The high-pressure electromagnetic valve 8 is a small-caliber electromagnetic valve, and the working pressure of the high-pressure electromagnetic valve 9 is more than 1MPa.

The opening and closing of the low-pressure electromagnetic valve 9 and the high-pressure electromagnetic valve 8 can be controlled by the underwater unmanned submersible vehicle control unit, and when the underwater unmanned submersible vehicle is regulated, the control unit can control the low-pressure electromagnetic valve 9 or the high-pressure electromagnetic valve 8 to be electrified and opened according to the seawater pressure condition of the current position of the underwater unmanned submersible vehicle. The seawater pressure at the current position of the underwater unmanned submersible vehicle can be obtained through detection of a set pressure sensor.

In order to detect the current oil quantity in the inner oil tank in real time, the device also comprises a displacement sensor, wherein the displacement sensor is arranged on the inner oil tank to detect the displacement of the inner oil tank during oil discharge or oil return. The displacement sensor can be connected with the control unit, and sends the displacement value detected in real time to the control unit, so that the control unit can acquire the oil quantity in the inner oil tank in real time.

In order to further ensure the stability of the device, two displacement sensors are provided, and the two displacement sensors are connected with the control unit. One of the displacement sensors is a main displacement sensor, and the other is a standby sensor. When the data of the main displacement sensor fails, the standby displacement sensor is started to work continuously, so that the risk that the underwater unmanned submersible vehicle cannot continue to execute tasks due to the sensor problem is greatly reduced.

The application still includes valve block 1, is equipped with on the valve block 1 and connects 2, and oil drain oil circuit 12 and return oil circuit 13 all set up in valve block 1, and hydraulic pump 4, high pressure solenoid valve 8 and 9 all install on valve block 1, and are connected with oil drain oil circuit 12 and return oil circuit 13 that correspond respectively, and oil drain oil circuit 12 and return oil circuit 13 are connected with interior oil tank through connecting 2.

The low-pressure electromagnetic valve 9, the high-pressure electromagnetic valve 8 and the hydraulic pump 4 are integrated into a valve block, so that the structure is simple, the maintenance is convenient, and the installation and the debugging are convenient.

The oil drain path 12 and the oil return path 13 are pore paths arranged on the valve block body 1, no additional oil drain or oil return pipeline is needed, and the sizes and specifications of the oil drain path 12 and the oil return path 13 are set according to the needs. The valve block 1 is provided with a joint 2 for connecting an inner oil tank and a joint 11 for connecting an outer leather bag, one end of an oil discharging oil way 12 and an oil returning oil way 13 is connected with the inner oil tank through the joint 2, and the other end is connected with the outer leather bag through the joint 11. The low-pressure solenoid valve 9 and the high-pressure solenoid valve 8 are mounted on the valve block 1 and connected in parallel to the return oil passage 13, and the hydraulic pump 4 is mounted on the valve block 1 and connected to the discharge oil passage 12.

Only set up the interface 11 that is used for connecting the joint 2 of interior oil tank and is used for connecting outer leather bag on the valve block body 1, the process hole in other pore ways adopts end cap 10 to block up tightly, prevents to leak, has reduced the arrangement and the connection of pipeline, has reduced the leakage point.

In order to filter the hydraulic oil that enters the hydraulic pump 4, a filter 3 is further included, and the filter 3 is a plug-in type filter that is inserted into the valve block 1 and is screwed to the valve block 1, and is located between the hydraulic pump 4 and the oil discharge passage 12.

The hydraulic oil is filtered by the plug-in filter and then enters the hydraulic pump 4, so that the safety of the hydraulic pump 4 is ensured. The filter 3 adopts a plug-in type filter, is inserted into the valve block 1 and is in threaded connection with the valve block 1, and the assembly is simple and convenient, and the integration level is high.

Specifically, the valve block 1 has an assembly hole in an oil discharge passage 12 between the hydraulic pump 4 and the inner tank, and the cartridge filter is inserted into and screwed into the assembly hole. The cartridge filter comprises a filter valve body 31, a filter cartridge 32, a first sealing ring 33 and a second sealing ring 34, wherein an oil liquid channel 314 is arranged in the filter valve body 31, the filter cartridge 32 is fixedly arranged on the filter valve body 31 and communicated with the oil liquid channel 314, the first sealing ring 33 is sleeved at one end of the filter valve body 31, the second sealing ring 34 is sleeved at the other end of the filter valve body 31, an assembling part 311 is arranged between the second sealing ring 34 and the filter cartridge 32 on the filter valve body 31, and external threads are arranged on the assembling part 311. The cartridge filter is mounted in the assembly hole by the external thread on the assembly part 311, and the sealing performance is good by arranging two sealing rings on the filter valve body 31.

The filter valve body 31 is a columnar member, the outer diameter of the inner end of the columnar member is smaller than that of the outer end of the columnar member, and the columnar member is made of aluminum alloy integrally, so that the columnar member is light in weight and has high-pressure use performance, and the highest working pressure can reach 35MPa.

The oil passage 314 is axially provided along the filter valve body 31, with an inlet thereof being located at a side wall of the filter valve body 31, an outlet thereof being located at an inner end of the filter valve body 31, the filter cartridge 32 being fixedly mounted on the filter valve body 31 and covering the inlet of the oil passage 314, the inlet of the inner end of the filter valve body 31 being communicated with the oil discharge passage 12 after the filter valve body 31 is assembled to the valve body 1, hydraulic oil flowing into the outlet from the inlet of the filter valve body 31, flowing out after being filtered by the filter cartridge 32, and entering the hydraulic pump 4.

Specifically, a first groove is provided along the circumferential direction of the filter valve body 31 and at the inner end of the filter valve body 31, and the first seal ring 33 is sleeved in the first groove. A second groove 313 is provided along the circumferential direction of the filter valve body 31 between the first groove and the fitting portion 311, an oil passage 314 is provided along the axial direction of the filter valve body 31, an inlet thereof is provided in the second groove 313 and connected to the oil discharge passage 12, an outlet thereof is provided at the inner end of the filter valve body 31, and the filter cartridge 32 is fixedly installed in the second groove 313.

The first sealing ring 33 is an O-ring, and the O-ring is installed in the first groove and is close to the inner end of the filter valve body 31 to form a first seal of the filter 3, so that hydraulic oil can only enter the oil channel 314 from the inlet of the filter valve body 31 after being filtered by the filter cartridge 32, and flows out to the hydraulic pump 4 from the outlet of the filter valve body 31.

The inner side of the outer end of the filter valve body 31 is provided with a groove, the second sealing ring 34 is an ED ring, the second sealing ring 34 is sleeved on the outer end of the filter valve body 31 and is positioned in the groove, and after the plug-in type filter is assembled on the valve block 1, the end face of the valve block 1 is pressed into the groove to form an end face sealing structure, so that the second sealing of the filter 3 is realized, and hydraulic oil is prevented from leaking from a gap between the assembly hole and the filter 3.

By adopting the structure, the buoyancy adjusting device has high integration level and is simple and convenient to assemble.

In the present application, unless explicitly specified and limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be an electrical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, numerous specific details are set forth. However, it is understood that embodiments of the utility model may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the description of the present specification, a description of the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, system, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, systems, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model, and are intended to be included within the scope of the appended claims and description.

Claims (7)

1. An underwater unmanned submersible vehicle buoyancy adjusting device comprises an inner oil tank, an outer leather bag, an oil discharging system and an oil return system, wherein the oil discharging system and the oil return system are connected between the inner oil tank and the outer leather bag; the oil discharging system comprises a motor, a hydraulic pump and an oil discharging oil way, the hydraulic pump is connected with an output shaft of the motor, an oil inlet of the hydraulic pump is connected with an inner oil tank, and an oil outlet of the hydraulic pump is connected with the outer skin bag through the oil discharging oil way; the oil return system comprises an oil return oil way and a low-pressure electromagnetic valve, an oil inlet of the low-pressure electromagnetic valve is connected with the outer skin bag through the oil return oil way, and an oil outlet of the low-pressure electromagnetic valve is connected with the inner oil tank; the oil return system is characterized by further comprising a high-pressure electromagnetic valve, wherein the high-pressure electromagnetic valve and the low-pressure electromagnetic valve are connected in parallel on the oil return oil path.

2. The buoyancy adjusting device of the underwater unmanned submersible vehicle according to claim 1, further comprising a valve block body, wherein a joint is arranged on the valve block body, the oil discharge oil way and the oil return oil way are all arranged in the valve block body, the hydraulic pump, the high-pressure electromagnetic valve and the low-pressure electromagnetic valve are all arranged on the valve block body and are respectively connected with the corresponding oil discharge oil way and the corresponding oil return oil way, and the oil discharge oil way and the oil return oil way are connected with the inner oil tank through the joint.

3. The submersible vehicle buoyancy adjustment device of claim 2, further comprising a filter, the filter being a cartridge filter, the cartridge filter being inserted into the valve block and threadably connected to the valve block and positioned between the hydraulic pump and the oil drain.

4. The buoyancy adjustment device of the underwater unmanned submersible vehicle according to claim 3, wherein the plug-in type filter comprises a filter valve body, a filter cartridge, a first sealing ring and a second sealing ring, an oil liquid channel is arranged in the filter valve body, the filter cartridge is fixedly installed on the filter valve body and communicated with the oil liquid channel, the first sealing ring is sleeved at one end of the filter valve body, the second sealing ring is sleeved at the other end of the filter valve body, an assembling part is arranged on the filter valve body and located between the second sealing ring and the filter cartridge, and external threads are arranged on the assembling part.

5. The buoyancy adjustment device of the underwater unmanned submersible vehicle according to claim 4, wherein a first groove is formed in the circumferential direction of the filter valve body and located at one end of the filter valve body, and the first sealing ring is sleeved in the first groove; the filter comprises a filter valve body, an oil liquid channel, a filter cartridge and an oil discharging oil way, wherein the filter valve body is circumferentially provided with a first groove, a second groove is arranged between the first groove and the assembly part, the oil liquid channel is axially arranged along the filter valve body, an inlet of the oil liquid channel is positioned in the second groove and is connected with the oil discharging oil way, an outlet of the oil channel is positioned at one end of the filter valve body, and the filter cartridge is fixedly installed in the second groove.

6. The buoyancy adjustment device of the underwater unmanned submersible vehicle according to claim 4, wherein a groove is formed in the inner side of the other end of the filter valve body, the second sealing ring is sleeved on the other end of the filter valve body, and the second sealing ring is pressed into the groove through the end face of the valve body after the plug-in type filter is assembled on the valve body.

7. The submersible vehicle buoyancy adjustment device of claim 1, further comprising a displacement sensor mounted to the inner tank to detect displacement of the inner tank during oil drain or return.

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