CN109131803B - High-pressure-resistant buoyancy self-calibration device for deep sea operation equipment - Google Patents
High-pressure-resistant buoyancy self-calibration device for deep sea operation equipment Download PDFInfo
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- CN109131803B CN109131803B CN201811009302.XA CN201811009302A CN109131803B CN 109131803 B CN109131803 B CN 109131803B CN 201811009302 A CN201811009302 A CN 201811009302A CN 109131803 B CN109131803 B CN 109131803B
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Abstract
The invention discloses a high-pressure-resistant buoyancy self-calibration device for deep sea operation equipment, which comprises a deep sea high-pressure-resistant cabin, a deep sea high-pressure-resistant column bag, a high-pressure-resistant column bag telescopic adjustment and support mechanism, a power reciprocating type stroke driving mechanism and the like; the deep sea high pressure resistant column bag is arranged at one end of the deep sea high pressure resistant cabin and communicated with the deep sea high pressure resistant cabin, the high pressure resistant column bag is telescopically adjusted and is connected with the supporting mechanism through the stroke connecting rod, the power reciprocating type stroke driving mechanism is telescopically adjusted and is connected with the high pressure resistant column bag through the stroke connecting rod, the high pressure resistant column bag is controlled to be telescopically adjusted and is stretched and contracted through the supporting mechanism, the deep sea high pressure resistant column bag is further driven to be stretched or contracted, the size is changed, and the power reciprocating type stroke driving mechanism is arranged inside the deep sea high pressure resistant cabin. The invention realizes the mechanical micro-adjustment of the buoyancy driving system by designing the high-pressure-resistant column bag telescopic adjustment and supporting mechanism with compact and light structure and the power reciprocating type stroke driving mechanism.
Description
Technical Field
The invention relates to the technical field of buoyancy balancing of deep sea operation equipment, in particular to a high-pressure-resistant buoyancy self-calibration device which is suitable for underwater operation equipment which works in a deep sea high-pressure environment and needs buoyancy balancing.
Background
The steps of exploring nature by human beings are never stopped, and deep sea exploration plays an important role in researching oceanic metal mineral resources, earth life origin and extreme ecosystem.
In modern marine surveying equipment, the traditional deep sea robot that relies on buoyancy drive mechanism to change volume to motion power or relies on buoyancy to carry out auxiliary motion accounts for the vast majority proportion of marine surveying equipment, and under current marine field technique, the vast majority of these two kinds of equipment use before work is a buoyancy balancing technique, promptly: the sea water surface is trimmed according to the relation between the density of the sea water surface of the operation sea area and the volume and the weight of the underwater operation robot, so that the buoyancy and the gravity are basically balanced, and the difference between the gravity and the buoyancy is reduced when underwater posture change or advancing and retreating is carried out, so that the power consumption is reduced. Because the aircraft under large submerged deep water has various composition materials, different pressure-resistant cabins and uncertainty of hydrological environments of different navigation water areas, the trim amount of different navigation depths is difficult to accurately calculate, and therefore the trim is required to be carried out aiming at different submerged depths before a test; in the deep ocean environment, the trimming process is very time-consuming and difficult. At present, the method of diving and balancing for several times, gradually increasing the diving depth and gradually increasing the balancing lead block is generally adopted to achieve the purpose of optimizing the navigation at the preset depth. In general, 2-3 times of submergence is needed to realize the optimal balancing at a preset depth. Because the navigation depth is big, dive and come-up operation process implementation cycle is long and relatively difficult, and sensitivity is poor, consume a large amount of manpower and materials and still have very big technical defect:
technical defect I: when underwater operation equipment is thrown, seawater surface balancing is required to be carried out in advance according to the relation between the seawater surface density of the area to be submerged and the volume and weight of the underwater operation robot. However, if the motion range of the device is large (the depth change range is large, the range of the flight is large), such as an underwater glider, an AUV and the like, the sea water density change of the sea area where the device is located is large, the change of the buoyancy borne by the device is large, at this time, the difference value of the corresponding buoyancy and gravity of one trimming performed on the sea water surface is not close to a zero state any more, but is a large difference value, at this time, if the depth of the underwater operation device needs to be kept unchanged or the underwater operation device needs to be changed into an expected working posture or state, the underwater operation device needs to be capable of implementing action or posture change by means of external force such as a propeller. For example: since the density of seawater increases with the increase of the depth of seawater, the buoyancy of seawater increases with the increase of the submergence depth under the condition that the size and weight of the deep sea surveying machine are not changed, and if underwater operation equipment is expected to keep a certain attitude, action or attitude change can be implemented by means of external force such as a propeller.
Technical defect II: because the aircraft under large submerged deep water has various composition materials, different pressure-resistant cabins and uncertainty of hydrological environments of different navigation water areas, the trim amount of different navigation depths is difficult to accurately calculate, and therefore the trim is required to be carried out aiming at different submerged depths before a test; in the deep ocean environment, the trimming process is very time-consuming and difficult. For example, for current underwater gliders, fresh water trim is required first, then inside trim, outside trim, and then sea trim. The method is only one seawater balancing work, and the balancing work of one device is less, more, the time is several days, so that the consumption of manpower and material resources is huge. Therefore, the method has important practical significance for reducing the diving balancing times of the autonomous underwater vehicle and improving the balancing quality.
Of course, there are also installations that can be trimmed with one dive. The invention discloses a one-way buoyancy adjusting device for an autonomous underwater vehicle, which relates to corollary equipment of the autonomous underwater vehicle, and comprises a buoyancy material outer cover, an outer skin capsule cabin, a leather bag, a control cabin pressure-resistant shell, a control valve, a pressure-resistant cabin side end cover and a pressure-resistant cabin shell, wherein the outer skin capsule cabin, the control cabin pressure-resistant shell and the pressure-resistant cabin side end cover are sequentially connected with the pressure-resistant cabin shell and are wrapped by the buoyancy material outer cover; the control valve is arranged in the pressure-resistant shell of the control cabin and is respectively communicated with the two leather bags, and the control valve controls the flow direction of oil between the two leather bags through the autonomous underwater vehicle; the oil in the outer leather bag cabin inner leather bag flows into the leather bag in the pressure resisting cabin shell, and buoyancy is adjusted through the change of the volume of the leather bag in the outer leather bag cabin. The invention can be balanced by one-time diving, and the optimal balancing of the heavy buoyancy can be realized without additional balancing operation. However, this mechanism has two major technical problems: firstly, the buoyancy is changed by depending on an oil way, a high-pressure pump and a high-pressure valve, so that the problem of large volume cannot be avoided; because the equipment is only used for auxiliary buoyancy adjustment of underwater operation equipment, the large size of the equipment inevitably brings other balance problems. Secondly, because the invention is only a single buoyancy adjusting device, when the deep sea operation equipment needs a plurality of points, even a plurality of three-dimensional points and surfaces for buoyancy compensation, the communication problem becomes very complicated because of all dispersed devices, and in addition, the devices need to be respectively detected and controlled, which brings about the following problems: or need establish control module alone and communicate with underwater operation equipment, or use the original control module of underwater operation equipment, must increase the complexity of original system control like this, be unfavorable for the modularization and the productization of equipment. According to the actual sea test experience, because the outer skin bag used in the invention is provided with folds and is of a cylindrical structure, the outer skin bag cannot resist high pressure and has different shapes in the direction vertical to the expected folds under certain deep sea pressure, and if the volume of the aircraft is small, the position of the floating center is greatly influenced by the shape change of the outer skin bag, so that the outer skin bag is not in line with the expected target.
Disclosure of Invention
Based on the technical problem, the invention provides a high-pressure-resistant buoyancy self-calibration device for deep sea operation equipment.
The technical solution adopted by the invention is as follows:
a high pressure resistant buoyancy self-calibration device for deep sea operation equipment comprises a deep sea high pressure resistant cabin, a deep sea high pressure resistant column bag, a high pressure resistant column bag telescopic adjustment and support mechanism and a power reciprocating type stroke driving mechanism;
the deep sea high pressure resistant column bag is arranged at one end of the deep sea high pressure resistant cabin and is communicated with the deep sea high pressure resistant cabin, the high pressure resistant column bag telescopic adjusting and supporting mechanism is arranged inside the deep sea high pressure resistant column bag, the power reciprocating type stroke driving mechanism is connected with the high pressure resistant column bag telescopic adjusting and supporting mechanism through a stroke connecting rod and controls the high pressure resistant column bag telescopic adjusting and supporting mechanism to stretch and contract so as to drive the deep sea high pressure resistant column bag to stretch or contract and change the volume, and the power reciprocating type stroke driving mechanism is arranged inside the deep sea high pressure resistant cabin;
the deep sea high pressure resistant cabin comprises a composite pressure resistant cabin body, a front end cover and a rear end cover are respectively arranged at the front end and the rear end of the composite pressure resistant cabin body, a support frame is connected between the front end cover and the rear end cover, an end cover interface is arranged on the front end cover, and a power supply port, a main communication port, a slave communication port and a working mode configuration port are arranged on the rear end cover;
the deep sea high pressure resistant column bag comprises an elastic high pressure resistant column bag body, the elastic high pressure resistant column bag body is of a cylindrical structure, the surface of the elastic high pressure resistant column bag body presents a plurality of fold circle structures, an outer bag body steel ring is arranged on the outer surface of the fold circle structure of the elastic high pressure resistant column bag body, an inner bag body steel ring is arranged on the inner surface of the fold circle structure of the elastic high pressure resistant column bag body, a high pressure resistant bag body interface is arranged in the center of one end of the elastic high pressure resistant column bag body, and the high pressure resistant bag body interface is connected with an end cover interface; the stroke connecting rod penetrates through the end cover interface and the capsule high-pressure-resistant interface;
the high-pressure-resistant column bag expansion adjusting and supporting mechanism comprises a front expansion pressing plate, a high-pressure-resistant supporting sheet, a telescopic quadrilateral arc-shaped frame, an arc-shaped frame supporting ring, an arc-shaped frame supporting rod, a supporting rod fixing connecting column and a rear expansion pressing ring; the high pressure resistant supporting sheets are arranged in plurality and are uniformly distributed on the inner side surface of the elastic high pressure resistant cylindrical bag body, the high pressure resistant supporting sheets are connected with the steel ring in the bag body, the telescopic quadrilateral arc-shaped frame is arranged at the inner side of the elastic high-pressure resistant column bag body along the length direction of the elastic high-pressure resistant column bag body, the high-pressure resistant support sheet is positioned between the steel ring and the telescopic quadrilateral arc-shaped frame in the bag body, the telescopic quadrilateral arc-shaped frame is formed by splicing a plurality of parallelogram structures, the parallelogram structure is provided with two transverse shaft joints and two longitudinal shaft joints, one transverse shaft joint and one longitudinal shaft joint on the parallelogram structure positioned at the foremost end of the telescopic quadrilateral arc-shaped frame are connected with the front telescopic compression plate, and one transverse shaft joint and one longitudinal shaft joint on the parallelogram structure positioned at the rearmost end of the telescopic quadrilateral arc-shaped frame are connected with the rear telescopic compression ring; the support ring of the arc-shaped frame is provided with a plurality of support rings which are all sleeved on the support rod fixing connecting column, the support ring of the arc-shaped frame is provided with a through hole, the support rods of the arc-shaped frame are also provided with a plurality of support rods, one end of each support rod of the arc-shaped frame penetrates through the through hole and is fixedly connected with the support rod fixing connecting column, and the other end of each support rod of the arc-shaped frame is connected with a transverse shaft joint of the telescopic quadrilateral arc-shaped frame; the support rod fixing connecting column penetrates from the front telescopic pressing plate to the rear telescopic pressing ring, the front end of the support rod fixing connecting column is fixedly connected with the front telescopic pressing plate, the rear end of the support rod fixing connecting column is fixedly connected with the rear telescopic pressing ring, and the support rod fixing connecting column is in transmission connection with the stroke connecting rod;
the power reciprocating type stroke driving mechanism comprises a direct current servo motor, a worm wheel, a worm, a driving gear, a driven rack and an output shaft sleeve, wherein an output shaft of the direct current servo motor is in transmission connection with the worm, the worm wheel is meshed with the worm, the driving gear is coaxially connected with the worm wheel, the driving gear is meshed with the driven rack, and the driven rack is in transmission connection with a stroke connecting rod.
Preferably, the telescopic four-side arc-shaped frame is of a bent arc-shaped structure, and the radian size is consistent with that of the elastic high-pressure-resistant cylindrical capsule body.
Preferably, the composite pressure-resistant cabin body is of a hollow cylinder structure, the thickness of the composite pressure-resistant cabin body is 5mm, and the composite pressure-resistant cabin body is formed by compositely winding carbon fibers according to a topological structure; the front end cover and the rear end cover are both of circular solid structures and are sealed with the deep sea high pressure resistant cabin through axial and radial sealing rings.
Preferably, the inner side of the elastic high-pressure resistant column bag body is provided with an inner bag body support which is convenient for the high-pressure resistant column bag expansion adjustment and support mechanism to be connected and fixed in the elastic high-pressure resistant column bag body; a protective shell is arranged on the outer side of the deep sea high pressure resistant column bag and is made of glass fiber reinforced plastic materials in a processing mode.
Preferably, the front telescopic pressing plate is of a circular structure and is made of 316 stainless steel materials in a processing mode, the diameter of the front telescopic pressing plate is smaller than that of the elastic high-pressure-resistant cylindrical bladder body, and the front telescopic pressing plate is fixedly connected with the steel ring in the bladder body at the foremost end of the inner side of the elastic high-pressure-resistant cylindrical bladder body.
Preferably, the telescopic four-side arc-shaped frame is provided with 4 sets, and the four sets are uniformly distributed on the inner side periphery of the elastic high-pressure-resistant cylindrical bag body; correspondingly, 4 through holes are uniformly distributed on the circumference of the supporting ring of the arc-shaped frame, and a supporting rod penetrating through each through hole is correspondingly connected with a certain transverse shaft joint of one telescopic quadrilateral arc-shaped frame.
Preferably, a membrane supporting ring is arranged between the high-pressure-resistant supporting sheet and the telescopic four-side arc-shaped frame, the membrane supporting ring is of a cylindrical ring structure, one end of the membrane supporting ring is connected with the center of the high-pressure-resistant supporting sheet, and the other end of the membrane supporting ring is connected with a transverse shaft joint of the telescopic four-side arc-shaped frame.
Preferably, the arc-shaped support ring is of a circular ring structure, the center of the arc-shaped support ring coincides with the center of the elastic high-pressure-resistant column capsule body, and the diameter of the arc-shaped support ring is 1/4 the diameter of the elastic high-pressure-resistant column capsule body.
Preferably, a pressure plate shaft sleeve is arranged at the center of the front telescopic pressure plate and is connected with the stroke connecting rod.
Preferably, a plurality of the high-pressure-resistant buoyancy self-calibration devices form a buoyancy self-balancing system, in the buoyancy self-balancing system, any one high-pressure-resistant buoyancy self-calibration device is configured into a coordinator, and the rest high-pressure-resistant buoyancy self-calibration devices are used as nodes; the main communication port of the high pressure resistant buoyancy self-calibration device as a coordinator is connected with the communication interface of the underwater operation equipment or the underwater robot through a watertight cable, the slave communication port of the high pressure resistant buoyancy self-calibration device as the coordinator is respectively connected with the main communication port of the high pressure resistant buoyancy self-calibration device as a node, or the slave communication port of the high pressure resistant buoyancy self-calibration device as the coordinator is connected with the main communication port of one of the high pressure resistant buoyancy self-calibration devices as the node, and the slave communication port of the high pressure resistant buoyancy self-calibration device as the node is further connected with the next main communication port of the high pressure resistant buoyancy self-calibration device as the node.
The beneficial technical effects of the invention are as follows:
1. the buoyancy driving system thoroughly overcomes the defect of large volume of the traditional device depending on an oil way, a high-pressure pump, a high-pressure valve and the like, and realizes mechanical adjustment of the buoyancy driving system by using a high-pressure resistant column bag telescopic adjustment and supporting mechanism and a power reciprocating type stroke driving mechanism which are compact and light in structure.
2. The invention abandons the defects that the prior outer leather bag is wrinkled and has a cylindrical structure which can not resist high pressure and has a shape different from the direction vertical to the expected wrinkles under certain deep sea pressure, designs the deep sea high pressure resistant cylindrical bag with the steel ring outside the bag body and the steel ring inside the bag body, and simultaneously cooperates with the original high pressure resistant cylindrical bag expansion adjustment and support mechanism, thereby greatly improving the pressure resistance of the leather bag under the deep sea environment, achieving the function of accurately adjusting the volume and finally achieving the aims of slightly adjusting and slightly calibrating the buoyancy.
3. According to the invention, by arranging the worm gear structure and matching with the gear rack structure, on the premise of being as simple as possible in mechanical structure and small in size, the transmission ratio is improved as much as possible, so that the output torque is increased; meanwhile, the output shaft of the motor and the output shaft passing through the worm gear are vertically arranged, so that the vertical height of the deep sea high pressure resistant cabin is reduced as much as possible, and the volume is further reduced; and the self-locking function of the worm gear and the worm is skillfully utilized, after the high-pressure-resistant buoyancy self-calibration device works, the current torque motor is not needed to continue to work to keep the torque, but the torque is kept through the self-locking function of the worm gear and the worm structure, so that the energy is greatly saved, and a foundation is laid for the long voyage (flight time) of underwater operation equipment or an underwater robot.
4. The high-pressure-resistant buoyancy self-calibration devices can form a complete distributed system with self-adaptive buoyancy fine adjustment, fine distribution and fine calibration, and the hardware components of any one high-pressure-resistant buoyancy self-calibration device are the same, so that the universality is ensured. And the network topology can be configured into a control end or a passive end through the ports, and the network topology can serve as a coordinator and a node respectively, so that the network topology of the system is ensured, and the information transmission efficiency is high. Meanwhile, the device can be widely applied to any underwater operation equipment or underwater robot, and has wide application range and strong universality.
5. The invention has simple and ingenious mechanical structure, can greatly improve the pressure resistance of the leather bag in the deep sea environment, and achieves the purposes of accurate adjustment of volume, micro-adjustment of buoyancy and micro-calibration; meanwhile, the underwater buoyancy adjustment power consumption can be saved, the underwater buoyancy adjustment power consumption can be widely applied to any underwater operation equipment or underwater robot, and the universality is extremely strong.
Drawings
The invention will be further described with reference to the following detailed description and drawings:
FIG. 1 is a schematic perspective view of a buoyancy self-balancing system composed of high-pressure-resistant buoyancy self-calibration devices for a plurality of deep sea operation equipment according to the present invention;
FIG. 2 is a schematic perspective view of a high pressure resistant buoyancy self-calibration device for deep sea operation equipment according to the present invention;
FIG. 3 is a schematic structural diagram of a high pressure resistant buoyancy self-calibration device for deep sea operation equipment according to the present invention;
FIG. 4 is a schematic structural view of the deep sea operation equipment in a front view after the composite pressure-resistant cabin body and the deep sea high pressure-resistant column bag protective shell are removed by the high pressure-resistant buoyancy self-calibration device;
FIG. 5 is a schematic view of a top view structure of the deep sea operation equipment of the present invention with the composite pressure-resistant cabin body and the deep sea high pressure-resistant column casing protective casing removed by the high pressure-resistant buoyancy self-calibration device;
FIG. 6 is a schematic perspective view of the deep sea operation equipment of the present invention with the composite pressure-resistant cabin body and the deep sea high pressure resistant column capsule protective shell removed by the high pressure resistant buoyancy self-calibration device;
FIG. 7 is a schematic perspective view of the deep sea operation equipment of the present invention with the high pressure resistant buoyancy self-calibration device removed the deep sea high pressure resistant column capsule protective shell and the elastic high pressure resistant column capsule body;
FIG. 8 is a schematic structural diagram of a high pressure resistant column bag expansion adjustment and support mechanism in the high pressure resistant buoyancy self-calibration device for deep sea operation equipment according to the present invention in a front view;
FIG. 9 is a left side view schematic structural diagram of a high pressure resistant column bag expansion adjustment and support mechanism in the high pressure resistant buoyancy self-calibration device for deep sea operation equipment according to the present invention;
FIG. 10 is a schematic perspective view of the high pressure resistant buoyancy self-calibration device for deep sea operation equipment according to the present invention after extracting a sub-part of the high pressure resistant column bag expansion adjustment and support mechanism;
fig. 11 is a partially enlarged perspective view of fig. 10.
Detailed Description
The high-pressure-resistant buoyancy self-calibration device for the deep sea operation equipment comprises a deep sea high-pressure-resistant cabin 1, a deep sea high-pressure-resistant column bag 2, a high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3 and a power reciprocating type stroke driving mechanism 4. The deep sea high pressure resistant column bag 2 is arranged at one end of the deep sea high pressure resistant cabin 1 and is communicated with the deep sea high pressure resistant cabin 1, the high pressure resistant column bag is telescopically regulated and the supporting mechanism 3 is arranged in the deep sea high pressure resistant column bag 2, the power reciprocating type stroke driving mechanism 4 is connected with the high pressure resistant column bag telescopically regulated and the supporting mechanism 3 through the stroke connecting rod 5, the high pressure resistant column bag telescopically regulated and the supporting mechanism are controlled to stretch and contract, the deep sea high pressure resistant column bag is further driven to stretch or contract, the size is changed, and the power reciprocating type stroke driving mechanism is arranged in the deep sea high pressure resistant cabin.
The deep sea high pressure resistant cabin 1 comprises a composite pressure resistant cabin body 12, a front end cover 11 and a rear end cover 13 are respectively arranged at the front end and the rear end of the composite pressure resistant cabin body, a support frame 10 is connected between the front end cover and the rear end cover, an end cover interface 19 is arranged on the front end cover, and a power supply port 15, a main communication port 16, a slave communication port 17 and a working mode configuration port 18 are arranged on the rear end cover.
The deep sea high pressure resistant column bag 2 includes elasticity high pressure resistant column bag utricule 21, elasticity high pressure resistant column bag utricule is the cylinder structure, its surface demonstrates a plurality of fold circle structures 210, fold circle structure department surface at elasticity high pressure resistant column bag utricule is provided with outer steel ring 24 of utricule, fold circle structure department internal surface at elasticity high pressure resistant column bag utricule is provided with the internal steel ring 25 of utricule, one end center at elasticity high pressure resistant column bag utricule is provided with the high pressure resistant interface 22 of utricule, the high pressure resistant interface 22 of utricule is connected with end cover interface 19. The stroke connecting rod 5 penetrates through the end cover interface and the capsule high-pressure-resistant interface.
The high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3 comprises a front telescopic pressing plate 30, a high-pressure-resistant supporting sheet 31, a telescopic four-side arc frame 32, an arc frame supporting ring 35, an arc frame supporting rod 36, a supporting rod fixing and connecting column 37 and a rear telescopic pressing ring 38. The high pressure resistant support sheets 31 are arranged in plurality and are uniformly distributed on the inner side surface of the elastic high pressure resistant cylindrical capsule body, and the high pressure resistant support sheets are connected with the steel ring in the capsule body. The telescopic quadrilateral arc-shaped frame is arranged on the inner side of the elastic high-pressure-resistant column capsule body along the length direction of the elastic high-pressure-resistant column capsule body, the high-pressure-resistant support sheet is positioned between the steel ring and the telescopic quadrilateral arc-shaped frame in the capsule body, the telescopic quadrilateral arc-shaped frame is formed by splicing a plurality of parallelogram structures, the parallelogram structures are provided with two transverse shaft joints 320 and two longitudinal shaft joints 321, one transverse shaft joint and one longitudinal shaft joint on the parallelogram structure at the foremost end of the telescopic quadrilateral arc-shaped frame are connected with the front telescopic compression plate 30, and one transverse shaft joint and one longitudinal shaft joint on the parallelogram structure at the rearmost end of the telescopic quadrilateral arc-shaped frame are connected with the rear telescopic compression ring 38. The arc-shaped support rings are arranged in a plurality of numbers and are all sleeved on the support rod fixing connecting column 37, and through holes 350 are arranged on the arc-shaped support rings. The arc-shaped frame supporting rods 36 are also provided with a plurality of arc-shaped frame supporting rods, one ends of the arc-shaped frame supporting rods penetrate through the through holes and are fixedly connected with the supporting rod fixing connecting columns, and the other ends of the arc-shaped frame supporting rods are connected with a certain transverse shaft joint of the telescopic four-side arc-shaped frame. The support rod fixing connecting column penetrates through the rear telescopic pressing ring from the front telescopic pressing plate, the front end of the support rod fixing connecting column is fixedly connected with the front telescopic pressing plate, the rear end of the support rod fixing connecting column is fixedly connected with the rear telescopic pressing ring, and the support rod fixing connecting column 37 is in transmission connection with the stroke connecting rod 5.
The power reciprocating type stroke driving mechanism 4 comprises a direct current servo motor 40, a worm wheel 41, a worm 42, a driving gear 43, a driven rack 44 and an output shaft sleeve 47, wherein an output shaft of the direct current servo motor 40 is in transmission connection with the worm 42, the worm wheel 41 is meshed with the worm 42, the driving gear 43 is coaxially connected with the worm wheel 41, the driving gear 43 is meshed with the driven rack 44, and the driven rack 44 is in transmission connection with the stroke connecting rod 5.
The invention realizes the mechanical micro-adjustment of the buoyancy driving system by designing the high-pressure-resistant column bag telescopic adjustment and supporting mechanism with compact and light structure and the power reciprocating type stroke driving mechanism. The invention has simple and ingenious mechanical structure, can greatly improve the pressure resistance of the leather bag in the deep sea environment, and achieves the purposes of accurate adjustment of volume, micro-adjustment of buoyancy and micro-calibration; meanwhile, the underwater buoyancy adjustment power consumption can be saved, the underwater buoyancy adjustment power consumption can be widely applied to any underwater operation equipment or underwater robot, and the universality is extremely strong.
As a further design of the invention, the telescopic quadrilateral arc-shaped frame 32 is of a curved arc structure, and the radian size is consistent with that of the elastic high-pressure resistant cylindrical capsule body. When each parallelogram structure of the telescopic quadrilateral arc-shaped frame 32 is wholly extended or compressed, the shape (radian) of the outermost end of the parallelogram structure is always kept parallel to the elastic high-pressure resistant cylindrical bag body 21, and the compression-resistant effect is good.
Furthermore, the composite pressure-resistant cabin body 12 is of a hollow cylinder structure, has a thickness of 5mm, is formed by compositely winding carbon fibers according to a topological structure, and is small in size, light in weight and capable of resisting pressure of more than 2000 meters at most. The front end cover 11 and the rear end cover 13 are both in a round solid structure and are sealed with the deep sea high pressure resistant cabin through axial and radial sealing rings.
Furthermore, an inner support 23 of the elastic high-pressure-resistant column bag body, which is convenient for the high-pressure-resistant column bag to stretch and adjust and is connected and fixed inside the elastic high-pressure-resistant column bag body by a supporting mechanism, is arranged on the inner side of the elastic high-pressure-resistant column bag body. The protective shell 26 is arranged on the outer side of the deep sea high pressure resistant column bag, the protective shell 26 is made of glass fiber reinforced plastic materials and used for protecting the deep sea high pressure resistant column bag 2 from being punctured by sharp objects, and meanwhile, through holes communicated with the outside are formed in the protective shell so as to ensure that the deep sea high pressure resistant column bag 2 is subjected to the pressure of the outside sea water.
Furthermore, the front telescopic pressing plate 30 is of a circular structure and is made of 316 stainless steel materials, the diameter of the front telescopic pressing plate is smaller than that of the elastic high-pressure-resistant cylindrical bladder body, and the front telescopic pressing plate is fixedly connected with the bladder body inner steel ring at the foremost end of the inner side of the elastic high-pressure-resistant cylindrical bladder body. The function is as follows: the compression strength of the foremost end of the elastic high-pressure-resistant cylindrical bladder body 21 is enhanced; secondly, the carrier platform of the telescopic quadrilateral arc frame 32 is connected and fixed.
Furthermore, 4 sets of the telescopic quadrilateral arc-shaped frames 32 are arranged, and are uniformly distributed on the inner periphery of the elastic high-pressure-resistant cylindrical bag body; correspondingly, 4 through holes are uniformly distributed on the circumference of the arc-shaped frame support ring 35, and a support rod penetrating through each through hole is correspondingly connected with a certain transverse shaft joint of one telescopic quadrilateral arc-shaped frame. Therefore, the stretching and supporting stability of the deep sea high pressure resistant column bag 2 can be improved.
Furthermore, a membrane supporting ring 33 is arranged between the high-pressure-resistant supporting sheet 31 and the telescopic quadrilateral arc frame 32, the membrane supporting ring 33 is a cylindrical ring structure, one end of the membrane supporting ring is connected with the center of the high-pressure-resistant supporting sheet, and the other end of the membrane supporting ring is connected with a transverse shaft joint of the telescopic quadrilateral arc frame.
Further, the arc-shaped frame support ring 35 is of a circular ring structure, the center of the arc-shaped frame support ring coincides with the center of the elastic high-pressure-resistant column capsule body, and the diameter of the arc-shaped frame support ring is 1/4 the diameter of the elastic high-pressure-resistant column capsule body.
Further, a pressing plate shaft sleeve 39 is provided at the center of the front telescopic pressing plate, and the pressing plate shaft sleeve 39 is connected with the stroke link 5.
In the buoyancy automatic balancing system, any one high-pressure-resistant buoyancy automatic calibrating device is configured into a coordinator, and the rest high-pressure-resistant buoyancy automatic calibrating devices are used as nodes; the main communication port of the high pressure resistant buoyancy self-calibration device as a coordinator is connected with the communication interface of the underwater operation equipment or the underwater robot through a watertight cable, the slave communication port of the high pressure resistant buoyancy self-calibration device as the coordinator is respectively connected with the main communication port of the high pressure resistant buoyancy self-calibration device as a node, or the slave communication port of the high pressure resistant buoyancy self-calibration device as the coordinator is connected with the main communication port of one of the high pressure resistant buoyancy self-calibration devices as the node, and the slave communication port of the high pressure resistant buoyancy self-calibration device as the node is further connected with the next main communication port of the high pressure resistant buoyancy self-calibration device as the node.
The components and the working principle of the invention are described in more detail below with reference to the accompanying drawings:
a high-pressure-resistant buoyancy self-calibration device for deep sea operation equipment comprises a deep sea high-pressure-resistant cabin 1, a deep sea high-pressure-resistant column bag 2, a high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3, a power reciprocating type stroke driving mechanism 4, a stroke connecting rod 5, a control panel 6 and an installation fixing support 7.
Specifically, the deep sea high pressure resistant cabin 1 is a cylindrical structure, and includes: the device comprises a support frame 10, a front end cover 11, a composite pressure-resistant cabin body 12, a rear end cover 13, a power supply port 15, a main communication port 16, a slave communication port 17, a working mode configuration port 18 and an end cover interface 19.
The front end cover 11 is of a round solid structure and is sealed with the deep sea high pressure resistant cabin through axial and radial sealing rings. The composite pressure-resistant cabin body 12 is of a hollow cylinder structure with the thickness of 5mm, and is formed by winding carbon fibers in a composite mode according to a topological structure in order to reduce weight and volume, and the maximum pressure resistance is more than 2000 m. The front end cover 11 is provided with an end cover interface 19, and the end cover interface 19 is a connecting and moving channel of the stroke connecting rod 5 between the deep sea high pressure resistant cabin 1 and the deep sea high pressure resistant column bag 2 and is also a bridge sealed and connected with the deep sea high pressure resistant column bag 2. Screw holes are formed in the end covers (including the front end cover 11 and the rear end cover 13) so that the front end cover 11 and the rear end cover 13 can be conveniently connected through bolts by using the deep sea high pressure resistant cabin. Meanwhile, the sealing mechanism is also sealed by a transverse sealing ring and a radial sealing ring along with the corresponding matched sealing bolt of the screw hole, so that the deep sea high pressure resistant cabin 1 is protected from seawater corrosion. The support frame 10 is installed and fixed in the deep sea high pressure resistant cabin 1 and is used as a carrier for installing and fixing each module and mechanical mechanism in the cabin; meanwhile, the front end cover 11 and the rear end cover 13 are mutually tensioned through the support frame 10, and the phenomenon of untight sealing caused by looseness is prevented. The rear end cover 13 is provided with a power supply port 15, a main communication port 16, a slave communication port 17 and a working mode configuration port 18. The power supply port 15 is in the form of a watertight joint and is used for supplying power to the underwater module through an external power supply or other underwater modules with power supply functions. The main communication port 16, the auxiliary communication port 17, the working mode configuration port 18 and the power supply port 15 are the same and are in watertight structural forms.
The deep sea high pressure resistant column capsule 2 comprises: the high-pressure resistant cylindrical capsule comprises an elastic high-pressure resistant cylindrical capsule body 21, a high-pressure resistant capsule body interface 22, an inner capsule body support 23, an outer capsule body steel ring 24, an inner capsule body steel ring 25 and a deep sea high-pressure resistant cylindrical capsule protective shell 26.
The elastic high-pressure resistant cylindrical bladder body 21 is of a cylindrical structure and made of nitrile rubber, and can resist high pressure of 2000 m; meanwhile, the surface of the elastic high-pressure resistant cylindrical sac body 21 is of a plurality of fold circle structures 210, and the elastic high-pressure resistant cylindrical sac body is convenient to stretch back and forth along the radial direction of the cylindrical structure, and when the elastic high-pressure resistant cylindrical sac body stretches to a certain position, the shape of the elastic high-pressure resistant cylindrical sac body is always kept to be the cylindrical structure without random deformation, so that the shape control is facilitated. Here, in order to ensure the strength of the elastic high-pressure resistant cylindrical capsule body with the corrugated structure under the high pressure in the deep sea, an outer capsule body steel ring 24 may be further disposed on the outer surface of each radially-oriented corrugated circle structure 210, and an inner capsule body steel ring 25 may be further disposed on the inner surface of each radially-oriented corrugated circle structure 210. The high pressure resistant post bag utricule 21 of cylinder structure elasticity is full seal structure, and the circular center in bottom surface is provided with the trompil, places the high pressure resistant interface 22 of utricule, and the trompil department of the high pressure resistant post bag utricule 21 of elasticity and the high pressure resistant interface 22 of utricule seal department adopt butadiene acrylonitrile rubber to seal, and the outside adopts western card polyurethane to bond/sealed glue, prevents under the deep sea high pressure, and the sea water is followed this trompil infiltration and is destroyed this high pressure resistant post bag 2 of deep sea even. The high-pressure resistant interface 22 of the capsule body is of a cylindrical ring structure, one end of the cylindrical ring is connected with the elastic high-pressure resistant cylindrical capsule body 21 in an adhesive mode, and the other end of the cylindrical ring is connected with the front end cover 11 of the deep sea high-pressure resistant cabin 1 and is provided with an axial seal and a radial seal. The inner side of the elastic high-pressure resistant column bag body 21 is provided with an inner bag body support 23, so that the high-pressure resistant column bag telescopic adjustment and support mechanism 3 and the like can be conveniently connected and fixed in the elastic high-pressure resistant column bag body 21. The deep sea high pressure resistant column sac protective shell 26 is made of glass fiber reinforced plastic and is used for protecting the deep sea high pressure resistant column sac 2 from being punctured by sharp objects.
High pressure resistant post bag is flexible adjusts and supporting mechanism 3 includes: the device comprises a front telescopic pressing plate 30, a high-pressure-resistant support sheet 31, a telescopic quadrilateral arc frame 32, a membrane support ring 33, an arc frame fixing column 34, an arc frame support ring 35, an arc frame support rod 36, a support rod fixing connecting column 37, a rear telescopic pressing ring 38 and a pressing plate shaft sleeve 39.
The front telescopic pressing plate 30 is of a circular structure and made of 316 stainless steel materials, the inner diameter of the circle is slightly smaller than the cross section diameter of the elastic high-pressure resistant column capsule body 21, and the circle is connected and fixed with the capsule inner steel ring 25 at the foremost end of the inner side of the elastic high-pressure resistant column capsule body 21. The function is as follows: the compression strength of the foremost end of the elastic high-pressure-resistant cylindrical bladder body 21 is enhanced; secondly, the carrier platform of the telescopic quadrilateral arc frame 32 is connected and fixed.
The high-pressure-resistant support sheets 31 are a plurality of strip-shaped membranes with certain elastic function, are uniformly distributed on the inner side surface of the elastic high-pressure-resistant cylindrical sac body 21 and are only in contact with the inner side surface; and the diaphragm is also connected and fixed with a steel ring 25 in the deep sea high pressure resistant column bag 2. The effect is as follows: the high pressure resistant support sheet 31 moves to drive the steel ring 25 in the capsule body to move back and forth along the bus direction of the elastic high pressure resistant cylindrical capsule body 21, so that the fine adjustment of the volume of the elastic high pressure resistant cylindrical capsule body 21 is realized.
The telescopic four-side arc-shaped frame 32 is of a parallelogram structure, can be extended and shortened, and is formed by splicing a plurality of quadrilateral structures to form a hat and coat stand structure, so that the integral telescopic function is realized. The four telescopic arc-shaped frames 32 are 4 sets, are uniformly distributed on the inner side of the elastic high-pressure resistant column capsule body 21, have the same direction with the bus direction of the elastic high-pressure resistant column capsule body 21, and are close to the elastic high-pressure resistant column capsule body 21. In addition, on each parallelogram structure of the telescopic quadrangular arc-shaped frame 32, there are two transverse axis joints 320 in the transverse direction and two longitudinal axis joints 321 in the longitudinal direction. A transverse axis joint 320 and a longitudinal axis joint 321 on the foremost parallelogram structure of the telescopic quadrilateral arc frame 32 are connected with the periphery (4 positions and 8 connecting points) of the front telescopic compression plate 30; similarly, a transverse axis joint 320 and a longitudinal axis joint 321 on the rearmost parallelogram of the telescoping quadrilateral arc 32 are connected to the periphery of the rear telescoping ring 38 (4 positions, 8 attachment points). More specifically, the following are: because the telescopic quadrilateral arc-shaped frame 32 is close to the elastic high-pressure-resistant column capsule body 21, and the elastic high-pressure-resistant column capsule body 21 is of a cylindrical structure, the whole telescopic quadrilateral arc-shaped frame 32 is of an inward-concave arc structure, and the radian size is consistent with the cylindrical radian of the elastic high-pressure-resistant column capsule body 21. The effect is as follows: when each parallelogram structure of the telescopic quadrilateral arc-shaped frame 32 integrally extends or compresses, the shape (radian) of the outermost end of the telescopic quadrilateral arc-shaped frame is always kept parallel to the elastic high-pressure resistant cylindrical capsule body 21, so that the telescopic quadrilateral arc-shaped frame always keeps equidistant movement with the high-pressure resistant support sheet 31, the high-pressure resistant support sheet 31 and the membrane support ring 33.
The membrane support ring 33 is a cylindrical ring structure, is also a plurality of, and is fixed in the center position of the inner side surface of the high pressure resistant support sheet 31, and the direction points to the inner side center line of the elastic high pressure resistant cylindrical capsule body 21, and the functions are as follows: one end is connected with a high pressure resistant support sheet 31, and the other end is connected with a fixed telescopic quadrilateral arc frame 32. It should be noted that the membrane support ring 33 is mounted and fixed on two transverse axis joints 320 of the four-sided telescopic bracket 32.
The arc frame fixing posts 34 are also a plurality of cylindrical posts, one end of each post is connected with one transverse axle joint 320 of the four-side telescopic arc frame 32, and the other end of each post is connected with the arc frame supporting post 36.
The arc-shaped frame support ring 35 is of a circular ring structure, through holes 350 are arranged on the arc-shaped frame support ring, the diameter of the circular ring is about 1/4 of the diameter of the elastic high-pressure resistant cylindrical capsule body 21, the number of the circular ring is multiple, and the number of the circular ring is basically consistent with the number of the two transverse shaft joints 320 of the telescopic quadrilateral arc-shaped frame 32. The center of the arc-shaped support ring 35 is coincident with and coincident with the center of the elastic high-pressure resistant cylindrical capsule body 21. The function of through holes 350 is: the other end of the arc-shaped frame supporting rod 36 can be conveniently inserted and fixed.
The arc-shaped frame supporting rod 36 is a slender cylindrical structure, one end of the arc-shaped frame supporting rod is connected and fixed with a certain transverse shaft joint 320 of the telescopic quadrilateral arc-shaped frame 32, and the other end of the arc-shaped frame supporting rod is connected and fixed with a through hole 350 on the arc-shaped frame supporting rod 36.
The support rod fixing connecting column 37 is of a cylindrical structure, the diameter of the support rod fixing connecting column is smaller than that of the circular ring of the arc-shaped frame support ring 35, and the length of the support rod fixing connecting column penetrates through the front telescopic press plate 30 to the rear telescopic press ring 38. The front end is connected fixedly with preceding telescopic compression plate 30, and the rear end is connected fixedly with back flexible clamping ring 38 to the centre is connected fixedly with each arc frame support ring 35 inboard, makes preceding telescopic compression plate 30, each arc frame support ring 35 and back flexible clamping ring 38 form a whole, but the translation motion between each arc frame support ring 35 does not receive its influence and interference.
The rear telescopic press ring 38 is a double ring structure, and includes an inner ring 380, an outer ring 381, and a radial connecting rod 382. The diameter of the inner ring 380 is consistent with that of the supporting rod fixing and connecting column 37 cylinder, so that the supporting rod fixing and connecting column ring 37 and the rear telescopic press ring 38 can be conveniently connected and fixed. The outer ring 381 is slightly smaller than the cross section diameter of the elastic high-pressure resistant cylindrical capsule body 21 and is fixedly connected with a capsule body inner steel ring 25 at the rearmost end of the inner side of the elastic high-pressure resistant cylindrical capsule body 21. In addition, the inner ring 380 and the outer ring 381 in the double ring structure are connected and fixed by the radial connecting rod 382, so that the inner ring 380 and the outer ring 381 form one body.
The pressure plate shaft sleeve 39 is in a circular ring shaft sleeve shape, and the front end face of the pressure plate shaft sleeve is fixedly arranged at the center of the front telescopic pressure plate 30 of the high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3 and points to the inner side of the high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3. The other end of the shaft sleeve structure is used for connecting and fixing the stroke connecting rod 5. The effect is as follows: the pressure plate shaft sleeve 39 is driven to move by the movement of the stroke connecting rod 5, and then the front telescopic pressure plate 30 is driven to move, and finally the compression or extension movement of the high-pressure-resistant column bag telescopic adjustment and supporting mechanism 3 is realized.
The working process of the high-pressure resistant column bag telescopic adjusting and supporting mechanism 3 is as follows:
firstly, the pressing plate shaft sleeve 39 is driven by the stroke connecting rod 5 to advance, the pressing plate shaft sleeve 39 pushes the front telescopic pressing plate 30 to advance, the elastic high-pressure-resistant column bag body 21 of the deep-sea high-pressure-resistant column bag 2 starts to extend, the fold circle structure 210 starts to unfold, and the volume is increased, namely: the buoyancy increasing function is realized.
Due to the elongation of the elastic high-pressure resistant cylindrical capsule body 21, the distance between the steel rings 24 outside each adjacent capsule body is elongated, and the distance between the steel rings 25 inside each adjacent capsule body is also elongated. Because steel ring 25 is connected with high pressure resistant backing sheet 31 in the capsule, high pressure resistant backing sheet 31 is connected with diaphragm support ring 33, and diaphragm support ring 33 supports with arc frame fixed column 34 and is connected, and arc frame fixed column 34 still is connected with arc frame support ring 35 through arc frame bracing piece 36, and arc frame support ring 35 has realized the whole support to deep sea high pressure resistant column capsule 2 through being connected with bracing piece fixed connection post 37, promptly: the strength of the deep sea high pressure resistant column bag 2 is enhanced, and the deep sea compression resistance is improved.
Conversely, the pressing plate shaft sleeve 39 is driven by the stroke connecting rod 5 to retreat, the pressing plate shaft sleeve 39 pushes the front telescopic pressing plate 30 to retreat, the elastic high-pressure resistant column capsule body 21 of the deep sea high-pressure resistant column capsule 2 begins to shorten, the fold circle structure 210 begins to contract, and the volume is reduced, namely: the buoyancy reducing function is realized.
Due to the shortening of the elastic high pressure resistant cylindrical capsule body 21, the distance between each outer steel ring 24 on the upper surface is shortened, and the distance between the steel rings 25 in each capsule body is also shortened. Because steel ring 25 is connected with high pressure resistant backing sheet 31 in the capsule, high pressure resistant backing sheet 31 is connected with diaphragm support ring 33, and diaphragm support ring 33 supports with arc frame fixed column 34 and is connected, and arc frame fixed column 34 still is connected with arc frame support ring 35 through arc frame bracing piece 36, and arc frame support ring 35 has realized the whole support to deep sea high pressure resistant column capsule 2 through being connected with bracing piece fixed connection post 37, promptly: the strength of the deep sea high pressure resistant column bag 2 is enhanced, and the deep sea compression resistance is improved.
The power reciprocating stroke driving mechanism 4 includes: the device comprises a direct current servo motor 40, a worm wheel 41, a worm 42, a driving gear 43, a driven rack 44, a gear box 45, a reciprocating power driving structure supporting body 46 and an output shaft sleeve 47.
The direct current servo motor 40 is fixedly arranged on the support frame 10, an output shaft of the direct current servo motor 40 is connected with the worm 42, the worm wheel 41 and the worm 42 are matched for use, and the direction is the vertical direction; the drive gear 43 is also connected to the shaft of the worm wheel 41 and fixed. The worm wheel 41, worm 42, pinion gear 43, and driven rack 44 are all disposed on a reciprocating power drive structural support 46. The front end of the driven rack 44 is also rigidly connected with the output shaft sleeve 47, and the output shaft sleeve 47 can be indirectly driven to move through the movement of the driven rack 44.
The working process of the power reciprocating stroke driving mechanism 4 is as follows:
the dc servo motor 40 rotates forward to drive the worm 42 to rotate forward, the worm wheel 41 rotates forward through the meshing relationship between the worm wheel and the worm, the driving gear 43 also rotates forward, the driven rack 44 moves forward, the output shaft sleeve 47 is driven to move forward, and finally the stroke link 5 is driven to move forward.
Conversely, the direct current servo motor 40 rotates reversely to drive the worm 42 to rotate reversely, the worm wheel 41 rotates reversely through the meshing relationship between the worm wheel and the worm, the driving gear 43 also rotates reversely, the driven rack 44 starts to move backwards, the output shaft sleeve 47 is further driven to move backwards, and finally the stroke connecting rod 5 is driven to move backwards.
The stroke connecting rod 5 is a rigid connecting rod, is made of 316 stainless steel, is connected with a pressure plate shaft sleeve 39 where the high-pressure-resistant column bag telescopic adjusting and supporting mechanism 3 is located at the front end, and is connected with an output shaft sleeve 47 where the power reciprocating stroke driving mechanism 4 is located at the rear end. In addition, the stroke connecting rod 5 is connected with the pressing plate shaft sleeve 39 on the front telescopic pressing plate 30 through a rear telescopic pressing ring, a supporting rod fixing and connecting column 37, an arc-shaped frame supporting ring 35 and a pressing plate shaft sleeve 39, and the diameter of the stroke connecting rod is about 1/4 which is the diameter of the arc-shaped frame supporting ring 35 or the supporting rod fixing and connecting column 37 or even smaller.
The control board 6 includes: a low power consumption controller 61, a power supply module 62 and a DC servo motor driver 63. The low-power-consumption controller 61 selects an MSP430F149 controller, and a two-layer plate is set up as a control plate and is a control core of the system. The power module 62 provides power conversion for the entire system, and so on. The dc servo motor driver 63 is a driver of the dc servo motor 40, and analyzes and amplifies a weak control signal of the low power consumption controller 61 to drive the motor.
The mounting and fixing support 7 is made of 316 stainless steel, the shape can be set according to actual needs, and meanwhile, a through hole is formed in the stainless steel structure, so that the device can be conveniently connected and fixed with other underwater operation equipment or underwater robots.
A plurality of high pressure resistant buoyancy self-calibration devices can be arranged to form a buoyancy self-balancing system, and any one of the high pressure resistant buoyancy self-calibration devices can be configured as a control end or a passive end by configuring the working mode configuration port 18, and the specific configuration method and the specific configuration mode are as follows:
when the working mode configuration port 18 is configured as a control port, the main communication port 16 of the high pressure resistant buoyancy self-calibration device needs to be connected with the communication interface of the underwater operation equipment or the underwater robot through a watertight cable, and the high pressure resistant buoyancy self-calibration device (HPBCD) is equivalent to a coordinator.
All the remaining high-pressure-resistant buoyancy self-calibration devices (HPBCD) need to configure the working mode configuration port 18 as a passive client, which is equivalent to a plurality of nodes; the underwater operation equipment or the underwater robot plays a role of a master controller in the whole system. At this time, the slave communication port 17 of the high pressure resistant buoyancy self-calibration device is connected with the master communication port 16 and the slave communication port 17 of all the high pressure resistant buoyancy self-calibration devices configured as the passive ends in sequence through the watertight cable. The specific link relationships are as follows:
communication port of underwater operation equipment (underwater robot) → watertight cable → main communication port of high pressure resistant buoyancy self-calibration device configured as control end;
a slave communication port of the high pressure resistant buoyancy self-calibration device configured as a control end → a watertight cable → a master communication port of the high pressure resistant buoyancy self-calibration device (HPBCD1) configured as a passive end;
the slave communication port of the high pressure resistant buoyancy self-calibration device configured as the passive end → the master communication port of the high pressure resistant buoyancy self-calibration device (HPBCD2) configured as the passive end;
the slave communication port of the high pressure resistant buoyancy self-calibration device configured as the passive end → the master communication port of the high pressure resistant buoyancy self-calibration device (HPBCD3) configured as the passive end;
……
Further, each of the above mentioned high pressure resistant buoyancy self-calibration devices can be configured as a Control terminal (Control terminal) or a passive terminal (passive client), but in a set of underwater operation equipment or underwater robot with a master Control function, one or only one high pressure resistant buoyancy self-calibration device (HPBCD) can be configured as a Control terminal (Control terminal); of course, the number of passive clients is not limited.
Further, the power reciprocating stroke driving mechanism 4 has three functions by using a worm gear structure:
firstly, a worm and gear structure is used, and on the premise that the mechanical structure is as simple as possible and the size is small, the transmission ratio is improved as much as possible, so that the output torque is increased.
Secondly, the output shaft of the motor and the output shaft passing through the worm gear are vertically arranged, so that the vertical height of the deep sea high pressure resistant cabin is reduced as much as possible, and the size is further reduced.
The worm gear and the worm have a self-locking function, and after the high-pressure-resistant buoyancy self-calibration device finishes working, the current torque motor is not required to continue working to keep torque, but the torque is kept through the self-locking function of the worm gear and the worm structure, so that energy is saved.
The working process of the invention is summarized further below:
i, micro-calibration buoyancy increasing step:
step 1: the low-power consumption controller 61 drives the dc servo motor driver 63 to drive the dc servo motor 40 to rotate forward → the worm 42 to rotate forward → the worm wheel 41 to rotate forward → the driving gear 43 to rotate forward → the driven rack 44 to move forward → the output bushing 47 to move forward → the stroke link 5 to move forward.
Step 2: the stroke connecting rod 5 moves forwards → the pressing plate shaft sleeve 39 pushes the front telescopic pressing plate 30 to move forwards → the elastic high-pressure resistant column capsule body 21 of the deep sea high-pressure resistant column capsule 2 begins to stretch → the folded circle structure 210 begins to unfold → the volume is increased → the buoyancy is increased.
II, a step of reducing micro-calibration buoyancy:
step 1: the low power consumption controller 61 drives the dc servo motor driver 63 to drive the dc servo motor 40 to rotate reversely → the worm 42 to rotate reversely → the worm wheel 41 to rotate reversely → the pinion gear 43 to rotate reversely → the driven rack 44 to move backwards → the output bushing 47 to move backwards → the stroke link 5 to move backwards.
Step 2: the stroke connecting rod 5 moves backwards → the pressing plate shaft sleeve 39 pushes the front telescopic pressing plate 30 to move backwards → the elastic high-pressure resistant column capsule body 21 of the deep sea high-pressure resistant column capsule 2 begins to shorten → the folded circle structure 210 begins to contract → the volume is reduced → the buoyancy is reduced.
III, a structure and a method for enhancing the compression resistance of the deep sea high pressure resistant column bag 2:
due to the elongation of the elastic high pressure resistant cylindrical bladder body 21, the distance between each outer steel ring 24 on the upper surface is elongated, and the distance between the steel rings 25 in each bladder body is also elongated. Because steel ring 25 is connected with high pressure resistant backing sheet 31 in the capsule, high pressure resistant backing sheet 31 is connected with diaphragm support ring 33, and diaphragm support ring 33 supports with arc frame fixed column 34 and is connected, and arc frame fixed column 34 still is connected with arc frame support ring 35 through arc frame bracing piece 36, and arc frame support ring 35 has realized the whole support to deep sea high pressure resistant column bag 2 through being connected with bracing piece fixed connection column ring 37, promptly: the strength of the deep sea high pressure resistant column bag 2 is enhanced, and the deep sea compression resistance is improved.
Parts not described in the above modes can be realized by adopting or referring to the prior art.
It should be noted that the above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose of the present invention is to enable the skilled person to understand the contents and methods of the present invention and to implement the method smoothly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the disclosure of the present invention are covered by the protection scope of the present invention.
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| CN109765098A (en) * | 2019-01-15 | 2019-05-17 | 哈尔滨经纬复合新材料工程有限公司 | A kind of flexible high pressure utricule system application of uniform stress |
| CN110304225A (en) * | 2019-07-19 | 2019-10-08 | 中国地质科学院 | A telescopic buoyancy adjustment buoy |
| CN110510086B (en) * | 2019-08-28 | 2021-02-02 | 上海大学 | Neutral buoyancy balancing device for realizing underwater mechanical arm wrist structure |
| CN113184149B (en) * | 2021-06-04 | 2022-11-25 | 海南热带海洋学院 | Bionic robotic fish with tail pectoral fin propelled cooperatively |
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