Piston-type buoyancy adjusting device

Abstract

The invention discloses a piston-type buoyancy adjusting device which comprises a waterproof cabin, a piston driving mechanism and an oil transportation pipeline and the like. The waterproof cabin comprises a waterproof cabin body, upper and lower two waterproof cabin covers and flange blocks connected on the cabin body and the like. The piston driving mechanism comprises a motor, a gear drive pair, a ball screw drive pair and a frame and the like support members. The oil transportation pipeline comprises an oil cylinder, a valve block, a switch valve, an oil transportation hose and a leather bag. By moving a piston, volume of the oil liquid going into the leather bag is changed, thereby changing the size of the leather bag, and furthermore, changing the floating and sinking state of the device. According to the piston-type buoyancy adjusting device, energy utilization efficiency is improved, and especially, endurance performance of a cableless device in water can be prolonged; through adopting a mode of the piston and a cylinder, oil discharge amount as well as oil discharge speed and the feedback piston position and movement speed are in linear relation, so that the state of the device is easy to control; and the oil serves as a medium to separate the leather bag and the water environment, so that a moving component is free from being corroded, and the service life of the device is prolonged.

Description

technical field [0001] The invention relates to a buoyancy adjusting device, in particular to a piston type buoyancy adjusting device. Background technique [0002] Underwater robots and other underwater equipment need to work at different depths underwater, so they need to be able to control their ups and downs and depths. Moreover, underwater is an environment where energy supply is difficult, so it is not advisable to control the ups and downs by active propulsion. Therefore, a buoyancy adjustment device is needed to realize ups and downs by changing the buoyancy. [0003] Existing buoyancy adjustment methods include mechanical transmission method, active oil pumping method, load throwing method, drainage method, and phase change method. The ordinary mechanical transmission method changes the position of the actuator through a series of mechanical transmissions to change the volume of the device, thereby controlling the ups and downs. However, because the volume of the...

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Problems solved by technology

This results in an inefficient use of energy for the entire device, wasting energy to overcome the stiction that maintains self-locking

The method of actively pumping oil is to pump the oil into the oil bag through the hydraulic oil circuit. The hydraulic system used in this method causes an additional burden on the device in terms of weight, and the non-linear existence of the hydraulic system due to leakage will also give Control brings additional difficulties

The throwing method is to control the floating and sinking state by throwing away heavy objects and reducing its own gravity. However, this process is irreversible, so that the device can only sink and float once.

The drainage method is to change the amount of discharged or inhaled water through the release and compression of high-pressure gas. The compression of high-pressure gas mainly depends on the work of the water pump. Because the gas compression process is nonlinear and there are many influencing factors, it is difficult to control, and the reliability of the water pump when it is exposed to seawater for a long time low life span

The phase change method mainly relies on the volume change of the special medium during the phase change process to adjust the buoyancy. However, the phase change of the object is a complex nonlinear thermodynamic process, and the gas generated by the phase change is easy to compress, which makes the control difficult.

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