Quick-response real-time buoyancy regulation and control system

Abstract

The invention discloses a fast-response real-time buoyancy regulation and control system which comprises a power and transmission part, an execution and buoyancy regulation part, a sealing and supporting part and an auxiliary component. The power and transmission part; the motor control panel (1) controls starting, stopping and the rotating speed of the motor (3), the motor (3) drives the lead screw (5) to rotate through the rotating shaft (16), the lead screw (5) is matched with the nut (6), rotating motion is converted into linear motion, a corrugated pipe is driven to stretch out and draw back, and the magnetic ring (2) is used for detecting the position of the nut (6). Buoyancy is directly adjusted according to the volume change of the corrugated pipe, real-time feedback and protection are provided through the magnetic ring and the limiting device, and quick response and accurate control are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater buoyancy regulating devices, and in particular to a fast-response real-time buoyancy regulating system. Background Art

[0002] In various underwater robots and marine equipment, the buoyancy adjustment system is a key component to control the underwater robot's floating, sinking, and suspension, and is the core component of the underwater robot's free swimming. The existing buoyancy adjustment system driving part is a push rod, which pushes the end cover, and the end cover is rigidly connected to one end of the bellows. When the push rod reciprocates, the bellows extends and retracts to achieve volume changes. In this way, the drainage volume of the entire system changes to achieve buoyancy adjustment.

[0003] At present, the buoyancy adjustment system has four shortcomings. First, the buoyancy adjustment speed is slow and cannot be quickly controlled. Second, the operation is unstable and produces a lot of noise. Third, the existing buoyancy adjustment system bellows and motor are in the same sealed cabin. As long as there is a problem in any part of the cabin, the entire equipment is at risk of being scrapped, and the service life of the parts is greatly shortened. Fourth, the existing buoyancy adjustment system has no position detection and cannot accurately control the buoyancy in real time. Summary of the invention

[0004] The present invention provides a fast-response real-time buoyancy control system, which solves the above four problems, improves the adjustment speed of the buoyancy control system, reduces the noise and energy consumption of the equipment, and greatly increases its service life. At the same time, it can achieve real-time and accurate buoyancy control.

[0005] The technical solution adopted by the present invention is a fast response real-time buoyancy control system, including power and transmission parts, execution and buoyancy adjustment parts, sealing and support parts, and auxiliary components; the power and transmission parts; the motor control board controls the start and stop and speed of the motor, the motor drives the lead screw to rotate through the rotating shaft, the lead screw cooperates with the nut to convert the rotational motion into linear motion, and the magnetic ring is used to detect the position of the nut; The execution and buoyancy adjustment part: the nut is connected to the bellows flange through a slider, the slider slides along the guide rail, one end of the bellows is welded to the end cover, the linear motion of the nut drives the bellows to expand and contract, and the slider stroke is limited; The sealing and supporting parts: the dynamic sealing cover and the flange are fastened with screws to seal the internal structure of the system together, the upper bearing and the lower bearing support the rotating shaft, and the motor housing and the rear cover constitute the external protection structure of the motor; The auxiliary components: the end cover and the wire tube are used to fix the nut.

[0006] Preferably, the stator of the motor is pressed into the motor housing, the rotor of the motor is installed in the rotating shaft, the motor control board is installed in the rear cover, and the rotating shaft, the upper bearing, the lower bearing and the motor housing are assembled and tightened with a flange.

[0007] Preferably, it includes a motor cabin and a bellows cabin which do not affect each other, wherein the motor cabin: the dynamic sealing cover is sleeved into the lead screw, the lead screw and the nut are installed in the rotating shaft, the magnetic ring is installed on the lead screw, the guide rail is installed on the flange, and the slider, the nut and the wire tube are connected and fixed; the bellows cabin: the dynamic sealing cover is installed with a limiter, and the bellows, the end cover and the bellows flange are integrally welded.

[0008] The beneficial effects of the present invention are as follows: the present invention designs a fast-response real-time buoyancy control system, which improves the buoyancy control speed, operation stability and component life of the system. The function of real-time and accurate buoyancy control is realized. At the same time, the overall size and weight are also smaller and lighter, and safe, stable, efficient, accurate, real-time, low-energy consumption and long-life operation can be achieved. This system has higher applicability and a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is an external structural diagram of the fast response real-time buoyancy control system of the present invention.

[0010] Figure 2 This is a diagram of the internal structure of the fast response real-time buoyancy control system of the present invention.

[0011] Markings in the figure: 1. Motor control board; 2. Magnetic ring; 3. Motor; 4. Dynamic sealing cover; 5. Screw; 6. Nut; 7. Bellows; 8. Thread tube; 9. End cover; 10. Slider; 11. Guide rail; 12. Bellows flange; 13. Limiter; 14. Upper bearing; 15. Flange; 16. Rotating shaft; 17. Motor housing; 18. Lower bearing; 19. Rear cover. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0013] In view of the problems of the prior art, the present invention provides a fast-response real-time buoyancy control system, which includes the following structures: a power and transmission part, an execution and buoyancy adjustment part, a sealing and support part, and auxiliary components; the power and transmission part; a motor control board 1 controls the start and stop and the speed of the motor 3, the motor 3 drives the lead screw 5 to rotate through the rotating shaft 16, the lead screw 5 cooperates with the screw nut 6 to convert the rotational motion into a linear motion, and the magnetic ring 2 is used to detect the position of the screw nut 6; The execution and buoyancy adjustment part: the nut 6 is connected to the bellows flange 12 through the slider 10, the slider 10 slides along the guide rail 11, one end of the bellows 7 is welded to the end cover 9, the linear motion of the nut 6 drives the bellows 7 to expand and contract, and the limit 13 constrains the travel of the slider 10; The sealing and supporting parts: the dynamic sealing cover 4 and the flange 15 are fastened with screws to seal the internal structure of the system together, the upper bearing 14 and the lower bearing 18 support the rotating shaft 16, and the motor housing 17 and the rear cover 19 constitute the external protection structure of the motor; The auxiliary components: the end cover 9 and the wire tube 8 are used to fix or guide the lead screw 5.

[0014] like Figure 1 and Figure 2 As shown, the specific connection structure is: the motor 3 drives the lead screw 5 to rotate, and the nut 6, the wire tube 8, the end cover 9, and the slider 10 are rigidly connected. The nut 6 converts the rotational motion of the lead screw 5 into linear motion. The slider 10 moves linearly on the guide rail 11 to guide the movement of the nut 6, the wire tube 8, and the end cover 9. One end of the bellows 7 is welded to the end cover 9. When the nut 6 moves back and forth with the end cover 9, the bellows 7 stretches and contracts, and the volume changes to achieve fast response and real-time buoyancy control. The bellows 7 in the figure is actually corrugated, and is replaced by a straight line for clarity.

[0015] By dividing the compartments, the bellows compartment and the motor compartment do not affect each other. If there is a problem with any part in the two compartments, it will not affect the other compartment, which greatly improves the life of the buoyancy control system parts.

[0016] The motor control board 1 detects the position of the magnetic ring 2, identifies the current position of the nut 6, controls the nut 6 through the motor 3 and the lead screw 5 to quickly reach the target position and accurately adjust it in real time.

[0017] To solve the problem of slow buoyancy adjustment speed, the present invention achieves fast response by using motor 3 to drive and screw 5 and nut 6 to transmit, thereby realizing fast response buoyancy adjustment.

[0018] To solve the problem of unstable operation, the present invention adds a guide rail 11 and a slider 10 to guide, thereby ensuring that the entire operation path is stable and reliable, thereby achieving a stable operation process of the buoyancy adjustment system.

[0019] In order to solve the problem that the buoyancy adjustment system cannot accurately adjust the buoyancy in real time, the present invention uses the motor control board 1 to detect the magnetic ring on the lead screw 5 and indirectly identify the position of the screw nut 6. Then, relying on the motor 3, the motor control board 1 controls the screw nut 6 to reach the specified position and adjusts it in real time. The motor control board 1 detects the position of the screw nut 6 in real time and adjusts it, and the system realizes real-time and accurate adjustment of buoyancy.

[0020] The assembly method is as follows: First, press the stator of the motor 3 into the motor housing 17, install the rotor of the motor 3 into the rotating shaft 16, and install the motor control board 1 into the rear cover 19. Then, assemble the rotating shaft 16, the upper bearing 14, the lower bearing 18 and the motor housing 17, and press them with the flange 15. Third, insert the dynamic seal cover 4 into the lead screw 5, install the lead screw 5 (nut 6) into the rotating shaft 16, fasten the dynamic seal cover 4 and the flange 15 with screws, install the magnetic ring 2 on the lead screw 5, install the guide rail 11 (slider 10) on the flange 15, and connect and fix the slider 10, nut 6 and wire tube 8 to seal the motor cabin. Finally, install the limit 13 on the dynamic seal cover 4, install the bellows assembly (including the bellows 7, the end cover 9, and the bellows flange 12, which are an integral welded part) to seal the bellows cabin.

[0021] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A fast response real-time buoyancy control system, characterized in that: It comprises a power and transmission part, an execution and buoyancy adjustment part, a sealing and support part, and auxiliary parts; the power and transmission part; the motor control board (1) controls the start and stop and the speed of the motor (3); the motor (3) drives the lead screw (5) to rotate through the rotating shaft (16); the lead screw (5) cooperates with the nut (6) to convert the rotational motion into linear motion; the magnetic ring (2) is used to detect the position of the nut (6); The execution and buoyancy adjustment part: the nut (6) is connected to the bellows flange (12) through the slider (10), the slider (10) slides along the guide rail (11), one end of the bellows (7) is welded to the end cover (9), the linear motion of the nut (6) drives the bellows (7) to expand and contract, and the limiter (13) constrains the travel of the slider (10); The sealing and supporting parts: the dynamic sealing cover (4) and the flange (15) are fastened with screws to seal the internal structure of the system together, the upper bearing (14) and the lower bearing (18) support the rotating shaft (16), and the motor housing (17) and the rear cover (19) constitute the external protection structure of the motor; The auxiliary components: the end cover (9) and the wire tube (8) are used to fix the nut (6).

2. A fast response real-time buoyancy control system according to claim 1, characterized in that: The stator of the motor (3) is pressed into the motor housing (17), the rotor of the motor (3) is installed in the rotating shaft (16), the motor control board (1) is installed in the rear cover (19), the rotating shaft (16), the upper bearing (14), the lower bearing (18) and the motor housing (17) are assembled and tightened with a flange (15).

3. A fast response real-time buoyancy control system according to claim 1, characterized in that: The invention comprises a motor cabin and a bellows cabin which do not affect each other. The motor cabin comprises: a dynamic sealing cover (4) is inserted into a lead screw (5), the lead screw (5) and a nut (6) are inserted into a rotating shaft (16), a magnetic ring (2) is installed on the lead screw (5), a guide rail (11) is installed on a flange (15), and a slider (10), a nut (6) and a wire tube (8) are connected and fixed; the bellows cabin comprises: a limiter (13) is installed on the dynamic sealing cover (4), and the bellows (7), an end cover (9) and a bellows flange (12) are integrally welded.

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