Buoyancy adjusting device

Abstract

The invention discloses a buoyancy adjusting device. The device comprises a sealing tank, an inner oil bag, a first-stage gear pump, a second-stage plunger pump, a filter, a one-way valve, an electromagnetic valve, an overflow valve, a backflow gear pump, a pressure sensor, a temperature sensor and an outer oil bag, wherein the sealing tank, the inner oil bag, the first-stage gear pump, the second-stage plunger pump, the filter, the one-way valve are installed in a watertight compartment; the inner oil bag is installed in the sealed tank, and the pressure sensor and the temperature sensor canmeasure the pressure and the temperature of the sealed tank at the same time; an input end of the first-stage gear pump is connected with the inner oil bag, and an output end of the first-stage gear pump is connected with the outer oil bag through a filter and a one-way valve; one end of the overflow valve is connected between the primary gear pump and the secondary plunger pump, and the other endis connected to the inner oil bag; and an output end of the reflux pump is connected with the inner oil bag. The volume change amount of the inner oil bag is obtained by measuring the change of the pressure and the temperature in the sealing tank, and therefore accurate adjustment of buoyancy is achieved.

Description

technical field [0001] The invention belongs to the field of underwater robots, and in particular relates to a buoyancy regulating device. Background technique [0002] The underwater glider is a kind of underwater drone that does not rely on the propulsion device, drives the horizontal wing to generate hydrodynamic force through the change of buoyancy, and changes the center of gravity to adjust the attitude to achieve underwater gliding. It can do deep and shallow underwater sports freely in wide waters for a long time and long distance. The buoyancy adjustment device is the core component of the underwater glider. The most commonly used method is to change the volume of the outer oil bag by filling and discharging oil into the outer oil bag located outside the body of the underwater glider to adjust the buoyancy of the whole machine. The control accuracy of oil quantity is the focus and difficulty that affects the overall accuracy and practicability of the buoyancy adjus...

AI Technical Summary

Problems solved by technology

[0003] One of the current methods is to use a flowmeter to measure the oil injection volume and oil discharge volume, but due to the pressure fluctuation and the cumulative error of the flowmeter, the control accuracy of the oil volume is reduced

Another method is to design a piston-type inner oil bag, and measure the displacement of the piston through a displacement sensor to obtain the change in oil volume. This method has a complex structure and has problems such as large running resistance and easy oil leakage.

Another method is to use a retractable bellows-type inner oil bag, and measure the displacement of the bottom of the bellows oil bag through a displacement sensor to obtain the change in oil volume. This method has a large measurement error when the oil volume in the inner oil bag is small.

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