CN112591062A - Negative buoyancy compensation device applied to underwater unmanned vehicle - Google Patents
Negative buoyancy compensation device applied to underwater unmanned vehicle Download PDFInfo
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- CN112591062A CN112591062A CN202011493189.4A CN202011493189A CN112591062A CN 112591062 A CN112591062 A CN 112591062A CN 202011493189 A CN202011493189 A CN 202011493189A CN 112591062 A CN112591062 A CN 112591062A
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- water tank
- push rod
- sealing plug
- buoyancy
- buoyancy compensation
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- 238000007789 sealing Methods 0.000 claims abstract description 87
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 80
- 239000013589 supplement Substances 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims 2
- 238000000034 method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention provides a negative buoyancy compensation device applied to an underwater unmanned aircraft, which can quickly perform negative buoyancy compensation on the aircraft. The negative buoyancy compensating device comprises: the buoyancy compensating water tank, the linear motor, the upper push rod, the lower push rod, the upper sealing plug and the lower sealing plug; wherein, two ends of the motor shaft of the linear motor are respectively coaxially connected with the upper push rod and the lower push rod; an upper sealing plug is arranged at the upper end of the upper push rod, and a through hole matched with the upper sealing plug is arranged at the upper end of the buoyancy compensation water tank; the lower end of the lower push rod is provided with a lower sealing plug, and the lower end of the buoyancy compensation water tank is provided with a through hole matched with the lower sealing plug; when the linear motor drives the upper push rod and the lower push rod to move upwards, the upper sealing plug extends out of the buoyancy compensation water tank, and the lower sealing plug moves upwards into the buoyancy compensation water tank, the two through holes are opened; when the linear motor drives the upper push rod and the lower push rod to move downwards to enable the upper sealing plug and the lower sealing plug to be matched with the corresponding through holes at the same time, the buoyancy compensation water tank is sealed.
Description
Technical Field
The invention belongs to the technical field of underwater unmanned aircrafts, and relates to a buoyancy compensation device applied to an underwater unmanned aircraft.
Background
Most of Underwater Unmanned Vehicles (UUV) carry loads to work, wherein part of the loads belong to disposable loads, and the disposable loads can be released in the task execution process of the UUV. When the UUV sails in water, the near-zero buoyancy generally must be ensured, but the disposable load has the difference between the positive buoyancy and the negative buoyancy, so that the UUV can continue to sail smoothly only by compensating the buoyancy of the UUV to the near-zero buoyancy state after the disposable load is released. Because the buoyancy of various disposable loads is different in size and the positive and negative conditions are different, particularly when the negative buoyancy of the disposable loads is larger, the aircraft is required to quickly compensate the negative buoyancy.
The common method for negative buoyancy compensation of a UUV is to let the empty cabin enter water; in the past, there have been manual (mechanical) water intake devices for empty chambers, and although the manual buoyancy compensating devices have simple structures and reliable use, the manual buoyancy compensating devices require manual operation by personnel each time the manual buoyancy compensating devices are used, and the use process is relatively complicated.
Disclosure of Invention
In view of this, the invention provides a negative buoyancy compensation device applied to an underwater unmanned vehicle, which can quickly perform negative buoyancy compensation on the vehicle.
The technical scheme of the invention is as follows: an apparatus for buoyancy compensation of an underwater unmanned vehicle, comprising: the buoyancy compensating water tank, the linear motor, the upper push rod, the lower push rod, the upper sealing plug and the lower sealing plug;
wherein the buoyancy compensating water tank is used for providing a volume for supplementing water;
two ends of a motor shaft of the linear motor are respectively and coaxially connected with the upper push rod and the lower push rod;
an upper sealing plug is arranged at the upper end of the upper push rod, and a through hole matched with the upper sealing plug is arranged at the upper end of the buoyancy compensation water tank; the lower end of the lower push rod is provided with a lower sealing plug, and the lower end of the buoyancy compensation water tank is provided with a through hole matched with the lower sealing plug;
when the linear motor drives the upper push rod and the lower push rod to move upwards, the upper sealing plug extends out of the buoyancy compensation water tank, and meanwhile, the lower sealing plug moves upwards into the buoyancy compensation water tank, two through holes are opened;
when the linear motor drives the upper push rod and the lower push rod to move downwards, and the upper sealing plug and the lower sealing plug are matched with the corresponding through holes at the same time, the buoyancy compensation water tank is sealed.
As a preferred embodiment of the present invention, the present invention further comprises: the conduction pipe, the upper sealing cover and the lower sealing cover;
the top and the bottom of the buoyancy compensation water tank are respectively provided with a mounting hole for mounting a conduction pipe, and the conduction pipe is vertically fixed between the two mounting holes; the conduction pipe is communicated with the buoyancy compensation water tank through the conduction hole on the outer circumferential surface of the conduction pipe; the linear motor is supported in the conduction pipe;
the mounting hole at the top of the buoyancy compensation water tank corresponding to the conduction pipe is sealed by an upper sealing cover fixedly connected with the buoyancy compensation water tank, and a through hole matched with the upper sealing plug is formed in the upper sealing cover;
the bottom of the buoyancy compensation water tank and the mounting hole corresponding to the conduction pipe are sealed by a lower sealing cover fixedly connected with the buoyancy compensation water tank; and the lower sealing cover is provided with a through hole matched with the lower sealing plug.
The underwater unmanned vehicle further comprises a vacuumizing device for vacuumizing the buoyancy compensation water tank in the sealed state before launching the underwater unmanned vehicle.
As a preferable mode of the present invention, a watertight connector is disposed at an end of the upper sealing plug, and a watertight cable penetrates through the upper push rod to be connected to the watertight connector, so as to provide a control signal and a power supply for the linear motor to move.
As a preferable mode of the present invention, the buoyancy compensating water tank is provided with a water outlet hole.
Has the advantages that:
(1) by adopting the negative buoyancy compensation device, the use flow of the platform type water replenishing device of the underwater unmanned vehicle can be simplified, and the effect of improving the use efficiency of the underwater unmanned vehicle is achieved.
(2) The buoyancy compensating device is provided with an upper sealing plug and a lower sealing plug, and the structure is matched with a through shaft type linear motor to completely transmit water pressure to the upper push rod, the motor shaft and the lower push rod. Therefore, when the motor pushes away or pulls back the upper and lower sealing plugs, the water pressure is not needed to be overcome, and only the friction force of the O-shaped ring is needed to be overcome.
Drawings
Fig. 1 is a schematic view of the structure of the negative buoyancy compensating device of the present invention.
Wherein: 1-buoyancy compensation water tank, 2-conduction pipe, 3-linear motor, 4-upper push rod, 5-lower push rod, 6-upper sealing cover, 7-lower sealing cover, 8-watertight joint, 9-upper sealing plug and 10-lower sealing plug
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to solve the problem that buoyancy compensation needs to be performed quickly after ballast is discarded when an aircraft performs a task, the embodiment provides a buoyancy compensation device which is driven by a linear motor to replace manual operation of personnel and mainly adopts empty-cabin quick water inlet.
As shown in fig. 1, the negative buoyancy compensating device includes: the buoyancy compensation water tank comprises a buoyancy compensation water tank 1, a conduction pipe 2, a linear motor 3, an upper push rod 4, a lower push rod 5 and a vacuumizing device.
Wherein the buoyancy compensating water tank 1 is used for providing a volume for water supplement;
the conduction pipe 2 is used for installing and fixing a linear motor assembly;
the linear motor 3 is used for pushing away or closing the upper and lower sealing plugs and opening or closing the compensation process of the buoyancy compensation cabin;
the upper push rod 4 is used for transmitting the thrust of the linear motor 3 to the upper sealing plug 9;
the lower push rod 5 is used for transmitting the thrust 3 of the linear motor to the lower sealing plug 10;
the upper sealing cover 6 is used for being matched with the upper sealing plug 9 to form sealing on the upper part of the buoyancy compensation water tank;
the lower sealing cover 7 is used for being matched with the lower sealing plug 10 to form sealing at the lower part of the buoyancy compensation water tank;
the watertight joint 8 and the watertight cable are used for providing control signals and power supply for the motion of the linear motor.
The connection relationship among the components is as follows: the conduction pipe 2 is vertically fixed inside the buoyancy compensation water tank 1 through a screw, and specifically comprises: the top and the bottom of the buoyancy compensation water tank 1 are respectively provided with a round hole for installing the conduction pipe 2, the conduction pipe 2 is vertically fixed (two ends of the conduction pipe 2 are respectively connected with the buoyancy compensation water tank 1 through screws) between the two round holes, the round hole at the top of the buoyancy compensation water tank 1 is sealed through an upper sealing cover 6 in screw connection with the buoyancy compensation water tank 1, and the round hole at the bottom is sealed through a lower sealing cover 7 in screw connection with the buoyancy compensation water tank 1; the conduction pipe 2 is communicated with the buoyancy compensation water tank 1 through a conduction hole on the outer circumferential surface of the conduction pipe; the linear motor 3 is fixed inside the conduction pipe 2 through a screw;
the two ends of a motor shaft of the linear motor 3 are respectively coaxially connected (fixedly connected through threads) with an upper push rod 4 and a lower push rod 5, the upper end of the upper push rod 4 is provided with an upper sealing plug 9, a through hole matched with the upper sealing plug 9 is correspondingly arranged on the upper sealing cover 6, and when the upper sealing plug 9 moves upwards under the action of the upper push rod 4 and extends out of the buoyancy compensation water tank 1, the through hole is opened; when the upper sealing plug 9 moves downwards under the action of the upper push rod 4 to be matched with the through hole, the upper part of the buoyancy compensation water tank 1 is sealed.
The lower end of the lower push rod 5 is provided with a lower sealing plug 10, the lower sealing cover 7 is correspondingly provided with a through hole matched with the lower sealing plug 10, and when the lower sealing plug 10 moves upwards to the interior of the buoyancy compensation water tank 1 under the action of the lower push rod 5, the through hole is opened; when the lower sealing plug 10 moves downwards under the action of the lower push rod 5 to be matched with the through hole, the lower part of the buoyancy compensation water tank 1 is sealed.
The watertight connector 8 is arranged at the end part of the upper sealing plug 9, and the watertight cable penetrates out of the upper push rod 4 to be connected with the watertight connector 8.
The specific working process of the buoyancy compensating device is as follows:
the buoyancy compensating device is placed on an underwater vehicle, before the vehicle is launched, an upper push rod 4 and a lower push rod 5 are driven by a motor shaft to respectively move to the positions corresponding to the through holes on the upper sealing plug 9 and the upper sealing cover 6 and the positions corresponding to the through holes on the lower sealing plug 10 and the lower sealing cover 7, so that the upper through hole and the lower through hole are closed, and the buoyancy compensating water tank 1 is in a sealed state. And then opening a vacuumizing device to vacuumize the buoyancy compensation water tank 1, wherein the vacuumizing aims to shorten the water replenishing time.
When the aircraft discards negative buoyancy ballast underwater, a comprehensive control system sends a control instruction to control a motor shaft of a linear motor to move upwards, at the moment, the motor shaft drives an upper push rod 4 and a lower push rod 5 to move upwards, the upper push rod 4 is pushed out of an upper sealing cover 6, and the lower push rod 5 is pulled into a buoyancy compensation water tank 1; at the moment, through holes on the upper sealing cover 6 and the lower sealing cover 7 are opened, and water enters the buoyancy compensation water tank 1 to realize buoyancy compensation.
When the aircraft is ashore, the water outlet hole on the buoyancy compensation water tank 1 is opened, and water in the tank flows out. After the water is completely drained, the linear motor 3 is started again to withdraw the upper push rod 4 and push out the lower push rod 5 at the same time, and the water is vacuumized again for the next use.
The core of the buoyancy compensation device is that an upper sealing plug and a lower sealing plug are arranged, and the structure is matched with a through shaft type linear motor to completely transmit water pressure to an upper push rod, a motor shaft and a lower push rod. Therefore, when the motor pushes away or pulls back the upper and lower sealing plugs, the water pressure is not needed to be overcome, and only the friction force of the O-shaped ring is needed to be overcome.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. Negative buoyancy compensation device for unmanned underwater vehicle, includes: the buoyancy compensating water tank comprises a buoyancy compensating water tank (1), a linear motor (3), an upper push rod (4), a lower push rod (5), an upper sealing plug (9) and a lower sealing plug (10);
wherein the buoyancy compensating water tank (1) is used for providing a volume for water supplement;
two ends of a motor shaft of the linear motor (3) are respectively and coaxially connected with an upper push rod (4) and a lower push rod (5);
an upper sealing plug (9) is arranged at the upper end of the upper push rod (4), and a through hole matched with the upper sealing plug (9) is formed in the upper end of the buoyancy compensation water tank (1); the lower end of the lower push rod (5) is provided with a lower sealing plug (10), and the lower end of the buoyancy compensation water tank (1) is provided with a through hole matched with the lower sealing plug (10);
when the linear motor (3) drives the upper push rod (4) and the lower push rod (5) to move upwards, the upper sealing plug (9) extends out of the buoyancy compensation water tank (1), and meanwhile, the lower sealing plug (10) moves upwards to the inside of the buoyancy compensation water tank (1), and the two through holes are opened;
and when the linear motor (3) drives the upper push rod (4) and the lower push rod (5) to move downwards, so that the upper sealing plug (9) and the lower sealing plug (10) are matched with the corresponding through holes simultaneously, the buoyancy compensation water tank (1) is sealed.
2. The negative buoyancy compensation device applied to an underwater unmanned vehicle as claimed in claim 1, further comprising: a conduction pipe (2), an upper sealing cover (6) and a lower sealing cover (7);
the top and the bottom of the buoyancy compensation water tank (1) are respectively provided with a mounting hole for mounting a conduction pipe (2), and the conduction pipe (2) is vertically fixed between the two mounting holes; the conduction pipe (2) is communicated with the buoyancy compensation water tank (1) through a conduction hole on the outer circumferential surface of the conduction pipe; the linear motor (3) is supported inside the conduction pipe (2);
the mounting hole corresponding to the conduction pipe (2) at the top of the buoyancy compensation water tank (1) is sealed by an upper sealing cover (6) fixedly connected with the buoyancy compensation water tank (1), and a through hole matched with the upper sealing plug (9) is formed in the upper sealing cover (6);
the bottom of the buoyancy compensation water tank (1) and a mounting hole corresponding to the conduction pipe (2) are sealed by a lower sealing cover (7) fixedly connected with the buoyancy compensation water tank (1); and the lower sealing cover (7) is provided with a through hole matched with the lower sealing plug (10).
3. The negative buoyancy compensating device applied to the unmanned underwater vehicle according to claim 1, further comprising a vacuum pumping device for pumping vacuum to the buoyancy compensating water tank (1) in a sealed state before the unmanned underwater vehicle launches water.
4. The negative buoyancy compensation device applied to the underwater unmanned vehicle is characterized in that a watertight joint (8) is arranged at the end part of the upper sealing plug (9), and a watertight cable penetrates out of the upper push rod (4) to be connected with the watertight joint (8) and is used for providing a control signal and a power supply for the motion of the linear motor.
5. The negative buoyancy compensating device applied to the unmanned underwater vehicle according to claim 1, wherein the buoyancy compensating water tank (1) is provided with a water outlet hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011493189.4A CN112591062A (en) | 2020-12-16 | 2020-12-16 | Negative buoyancy compensation device applied to underwater unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011493189.4A CN112591062A (en) | 2020-12-16 | 2020-12-16 | Negative buoyancy compensation device applied to underwater unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112591062A true CN112591062A (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011493189.4A Pending CN112591062A (en) | 2020-12-16 | 2020-12-16 | Negative buoyancy compensation device applied to underwater unmanned vehicle |
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| Country | Link |
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| CN (1) | CN112591062A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248894A (en) * | 2021-11-27 | 2022-03-29 | 宜昌测试技术研究所 | A modular AUV counterweight adaptive load compartment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428456A (en) * | 2016-10-30 | 2017-02-22 | 山西汾西重工有限责任公司 | Storehouse cover opening mechanism of buoyancy compensation storehouse body |
| CN206068102U (en) * | 2016-06-28 | 2017-04-05 | 河北工业大学 | A kind of microminiature bionic machine fish buoyancy regulating device |
| CN206679233U (en) * | 2017-04-14 | 2017-11-28 | 三亚学院 | A kind of stretch compensation type buoyancy regulating device |
| CN210083510U (en) * | 2019-06-26 | 2020-02-18 | 重庆前卫科技集团有限公司 | Buoyancy changeable buoyancy device |
-
2020
- 2020-12-16 CN CN202011493189.4A patent/CN112591062A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206068102U (en) * | 2016-06-28 | 2017-04-05 | 河北工业大学 | A kind of microminiature bionic machine fish buoyancy regulating device |
| CN106428456A (en) * | 2016-10-30 | 2017-02-22 | 山西汾西重工有限责任公司 | Storehouse cover opening mechanism of buoyancy compensation storehouse body |
| CN206679233U (en) * | 2017-04-14 | 2017-11-28 | 三亚学院 | A kind of stretch compensation type buoyancy regulating device |
| CN210083510U (en) * | 2019-06-26 | 2020-02-18 | 重庆前卫科技集团有限公司 | Buoyancy changeable buoyancy device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248894A (en) * | 2021-11-27 | 2022-03-29 | 宜昌测试技术研究所 | A modular AUV counterweight adaptive load compartment |
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Application publication date: 20210402 |
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