Bidirectional volumetric buoyancy adjusting device and testing device and method thereof

Abstract

The invention discloses a bidirectional volumetric buoyancy adjusting device which comprises a main body fixing cylinder, adjusting modules and a control module. The adjusting modules are used for adjusting the drainage volume of the buoyancy adjusting device, and the adjusting modules comprise a first adjusting module and a second adjusting module; the first adjusting module and the second adjusting module have the same structure and are symmetrically arranged on the main body fixing cylinder; the first adjusting module and the second adjusting module work independently. The buoyancy of the device can be changed under the condition that the gravity center is not changed through independent or common cooperative work of the first adjusting module and the second adjusting module, the gravity center of the device can also be adjusted under the condition that the buoyancy is kept unchanged, the buoyancy can be continuously adjusted after the gravity center is adjusted, and double and continuous adjustment of the buoyancy and the gravity center is achieved. And the device obtains high stability underwater, and is suitable for a complex underwater working environment. The invention further discloses a testing device and a testing method for testing the bidirectional volumetric buoyancy adjusting device.

Description

technical field [0001] The invention relates to underwater exploration equipment and peripheral supporting equipment technology, in particular to a two-way volumetric buoyancy adjustment device, a testing device and a testing method thereof. Background technique [0002] With the continuous deepening of ocean research, the collection of ocean data is increasingly inseparable from the help of submersibles. However, the density of seawater may vary in different regions and at different depths. Different, the above situations will cause the buoyancy of the submersible to change. In order to realize the stability of the submersible’s floating, diving and depth control in the water, it is necessary to equip the submersible with a buoyancy adjustment device. [0003] The buoyancy adjustment method can be divided into volumetric type and gravity type. The volumetric type mainly changes the drainage volume without changing its own gravity to make its buoyancy change; the gravity typ...

AI Technical Summary

Problems solved by technology

Compared with the traditional buoyancy adjustment system, this device is lighter in weight and lower in maintenance cost, but due to the limited service life of the high-pressure gas cylinder, it is difficult to achieve repeated adjustments for a long time

And as the water depth increases, the environmental pressure increases, making it difficult to accurately control the buoyancy

Another example is that the patent CN201610147200.9 discloses a buoyancy adjustment device, which uses the principle of the crank slider to realize the two-way movement of the left and right push boxes, so that the elastic bag wrapped on the left and right push boxes expands and shrinks to achieve the buoyancy adjustment effect, but the crank rotation and The linear movement of the push box is a nonlinear relationship, and the point of action of the thrust changes continuously with the displacement of the slider, which leads to the low reliability of the execution system of the device, and it is difficult to achieve continuous adjustment of the buoyancy

Another example is patent CN201510679709.3, which discloses a self-draining buoyancy adjustment device for underwater robots. The device uses a hydraulic pump to discharge the oil in the accumulator into the bladder, and realizes buoyancy adjustment by changing the volume of the bladder. However, the underwater equipment The loading space is limited, the proportion of the buoyancy adjustment of the device to its own volume is small, and the buoyancy adjustment volume is relatively low, and when the oil volume of the accumulator changes, the center of gravity will shift accordingly, so it is difficult to ensure the stability of the device in the water Balanced state

[0005] In addition, the test device related to the buoyancy adjustment device, such as the patent CN201611181548.6 discloses a method for measuring the buoyancy center of underwater navigation. The coordinates of the buoyant center, but the detection object of the above method is an object with a fixed shape, which is not suitable for detecting the underwater parameters of the device when the shape changes

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