Rotary valve device for underwater robot

Abstract

The invention belongs to the field of underwater robots, and particularly relates to a rotary valve device for an underwater robot, a valve core is rotatably mounted in a rotary valve cover, a power source is hermetically mounted on the rotary valve cover, and the output end of the power source is connected with the valve core; a plurality of rotary valve cover water inlet holes are evenly formed in the rotary valve cover in the circumferential direction, a water outlet hole channel connector is further arranged on the rotary valve cover, a valve element water inlet hole and a valve element water outlet hole are formed in the valve element, and one end of the valve element water inlet hole is communicated with one end of the valve element water outlet hole through a valve element inner hole channel formed in the valve element. The other end of the valve core water outlet hole is communicated with a water outlet hole channel joint through a water outlet pipe arranged in the rotary valve cover; the power source drives the valve element to rotate, and the valve element water inlet hole is sequentially communicated with the rotary valve cover water inlet holes. Seawater (or other hydraulic fluid) can sequentially flow through the water inlet holes of the rotary valve cover, and the device can be used for biochemical sampling and the like of seawater at different depths; the invention has the advantages of compact structure, high efficiency, high reliability, convenience in assembly and maintenance and the like.

Description

Technical Field

[0001] The present invention belongs to the field of underwater robots, and particularly relates to a rotary valve device for an underwater robot. Background Art

[0002] The ocean absorbs about one-third of the carbon dioxide every year, and the most important ways are the biological pump and the microbial pump in the ocean. Particulate matter and planktonic microorganisms in the ocean are the representatives of the biological pump and the microbial pump respectively. Then, how to collect particulate matter and planktonic microorganisms efficiently, with high quality, high resolution and automation is the main problem faced at present. The rotary valve device is the key technology to realize multi-filter switching sampling and is the key component to obtain particulate matter and biological samples in the ocean vertical profile. Through sampling and analysis, it can deepen the understanding of the key biogeochemical processes in the ocean and strengthen the understanding of the regulation mechanism of the structure and function changes of the ocean ecosystem. Summary of the Invention

[0003] In order to achieve autonomous switching sampling of a small underwater robot, the purpose of the present invention is to provide a rotary valve device for an underwater robot.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The present invention includes a rotary valve cover, a valve core and a power source. The valve core is rotatably installed in the rotary valve cover, the power source is sealed and installed on the rotary valve cover, and the output end of the power source is connected to the valve core. A plurality of rotary valve cover water inlet holes are evenly arranged on the rotary valve cover along the circumferential direction. The rotary valve cover is also provided with a water outlet hole channel joint. The valve core is respectively provided with a valve core water inlet hole and a valve core water outlet hole. One end of the valve core water inlet hole is communicated with one end of the valve core water outlet hole through a valve core internal hole channel arranged inside the valve core. The other end of the valve core water outlet hole is communicated with the water outlet hole channel joint through a rotary valve cover water outlet hole channel arranged inside the rotary valve cover. The power source drives the valve core to rotate. The other end of the valve core water inlet hole is sequentially communicated with each rotary valve cover water inlet hole. Seawater at different depths flows into the valve core through the rotary valve cover water inlet hole and the valve core water inlet hole, and flows out from the water outlet hole channel joint after passing through the valve core internal hole channel, the valve core water outlet hole and the rotary valve cover water outlet hole channel, for biochemical sampling of seawater at different depths.

[0006] Wherein: the rotary valve cover is divided into a detachable rotary valve upper cover and a rotary valve lower cover. The valve core is rotatably installed in the space formed by the sealed connection of the rotary valve upper cover and the rotary valve lower cover. The power source is sealed and installed on the lower surface of the rotary valve lower cover. A plurality of rotary valve cover water inlet holes are evenly arranged on the rotary valve upper cover along the circumferential direction. Each rotary valve cover water inlet hole is respectively communicated with the space where the valve core is installed. The rotary valve cover water outlet hole channel and the water outlet hole channel joint are both arranged on the rotary valve upper cover.

[0007] Each water inlet hole of the rotary valve cover is axially opened along the upper cover of the rotary valve and penetrates through the upper cover of the rotary valve; the axial centerlines of each water inlet hole of the rotary valve cover are parallel to each other and parallel to the axial centerlines of the valve core, the upper cover of the rotary valve, and the lower cover of the rotary valve, and the axial centerlines of the upper cover of the rotary valve, the valve core, and the lower cover of the rotary valve are collinear.

[0008] The axial cross-section of the valve core is in a "cross" shape. Both ends of the vertical sides of the "cross" shape are rotatably connected to the rotary valve cover through bearings. The output end of the power source is connected to the lower end of the vertical side of the "cross" shape. A valve core water outlet hole is opened at the upper end of the vertical side of the "cross" shape, and the valve core water inlet hole is opened on the horizontal side of the "cross" shape.

[0009] The internal hole channel of the valve core is in a "U" shape. Both ends of the opening of the "U" shape are respectively communicated with the valve core water inlet hole and the valve core water outlet hole. The bottom of the "U" shape is axially opened along the radial direction of the valve core, and a valve core plug is hermetically installed on the corresponding hole end face of the bottom of the "U" shape.

[0010] Sealing ring grooves are provided around the valve core water inlet hole and each water inlet hole of the rotary valve cover. O-ring seals are accommodated in the sealing ring grooves. The O-ring seal around the valve core water inlet hole is used to achieve sealing when the valve core water inlet hole is communicated with the water inlet hole of the rotary valve cover, and the O-ring seal around the water inlet hole of the rotary valve cover is used for hermetically connecting with the filter.

[0011] The power source is a stepping motor. The output end of the stepping motor is connected to the valve core through a coupling. The stepping motor is covered with a motor cover. The lower surface of the rotary valve cover is hermetically fixed with a stepping motor fixing part. The upper end of the motor cover is hermetically connected to the stepping motor fixing part. The lower end of the motor cover is hermetically connected to a motor end cover. A through-hull connector is hermetically connected to the motor end cover. The stepping motor is connected to an external control system for controlling the rotation of the stepping motor through the through-hull connector.

[0012] The advantages and positive effects of the present invention are as follows:

[0013] 1. The present invention can realize the sequential circulation of seawater (or other hydraulic fluids) through multiple water inlet holes of the rotary valve cover, and can be used for biochemical sampling of seawater at different depths, etc.

[0014] 2. The present invention has the advantages of compact structure, high efficiency, high reliability, convenient assembly and maintenance, etc. Brief Description of the Drawings

[0015] Figure 1 is a cross-sectional view of the internal structure of the present invention;

[0016] Figure 2 is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 3Schematic three-dimensional structure diagram of the valve core of the present invention;

[0018] Wherein: 1 is the upper cover of the rotary valve, 2 is the valve core, 3 is the lower cover of the rotary valve, 4 is the coupling, 5 is the stepping motor, 6 is the motor enclosure, 7 is the motor end cover, 8 is the through-hull connector, 9 is the O-ring seal, 10 is the fixing part of the stepping motor, 11 is the bearing, 12 is the water inlet hole of the rotary valve cover, 13 is the water outlet hole connector, 14 is the valve core plug, 15 is the water inlet hole of the valve core, 16 is the water outlet hole of the valve core, 17 is the water outlet channel of the rotary valve cover, and 18 is the internal hole of the valve core. Specific embodiments

[0019] The present invention will be further described in detail below with reference to the accompanying drawings.

[0020] As Figures 1 to 3 shown, the present invention includes a rotary valve cover, a valve core 2 and a power source. The valve core 2 is rotatably installed in the rotary valve cover, and the power source is hermetically installed on the rotary valve cover. The output end of the power source is connected to the valve core 2. A plurality of water inlet holes 12 of the rotary valve cover are evenly arranged on the rotary valve cover along the circumferential direction. The rotary valve cover is also provided with a water outlet hole connector 13. The valve core 2 is respectively provided with a water inlet hole 15 of the valve core and a water outlet hole 16 of the valve core. One end of the water inlet hole 15 of the valve core is communicated with one end of the water outlet hole 16 of the valve core through the internal hole 18 of the valve core provided inside the valve core 2, and the other end of the water outlet hole 16 of the valve core is communicated with the water outlet hole connector 13 through the water outlet channel 17 of the rotary valve cover provided inside the rotary valve cover.

[0021] The rotary valve cover of this embodiment is divided into a detachable upper cover 1 of the rotary valve and a lower cover 3 of the rotary valve. Both the upper cover 1 of the rotary valve and the lower cover 3 of the rotary valve are disc-shaped and are provided with connecting ears. They are fixedly connected by screws at their respective connecting ears, and an O-ring seal 9 is provided on the joint surface. The valve core 2 is rotatably installed in the space formed by the sealed connection of the upper cover 1 of the rotary valve and the lower cover 3 of the rotary valve. The axial section of the valve core 2 in this embodiment is in the shape of a cross. The upper end of the vertical side of the cross is rotatably connected to the upper cover 1 of the rotary valve through a bearing and is sealed by an O-ring seal 9. The water outlet hole 16 of the valve core is opened at the upper end of the vertical side of the cross. The lower end of the vertical side of the cross is rotatably connected to the lower cover 3 of the rotary valve through a bearing and is sealed by an O-ring seal 9. A plurality of water inlet holes 12 of the rotary valve cover are evenly arranged on the upper cover 1 of the rotary valve along the circumferential direction. Each water inlet hole 12 of the rotary valve cover is respectively communicated with the water inlet hole 15 of the valve core on the valve core 2. The water outlet channel 17 of the rotary valve cover and the water outlet hole connector 13 are both arranged on the upper cover 1 of the rotary valve. The axial direction of each water inlet hole 12 of the rotary valve cover is the same as the axial direction of the upper cover 1 of the rotary valve and penetrates through the upper cover 1 of the rotary valve. The axial centerlines of each water inlet hole 12 of the rotary valve cover are parallel to each other and parallel to the axial centerlines of the valve core 2, the upper cover 1 of the rotary valve, and the lower cover 3 of the rotary valve. The axial centerlines of the upper cover 1 of the rotary valve, the valve core 2, and the lower cover 3 of the rotary valve are collinear.

[0022] The valve core 2 corresponding to the horizontal side of the "cross" shape is disc-shaped, and the valve core water inlet hole 15 is opened on the horizontal side of the "cross" shape. The internal hole channel 18 of the valve core in this embodiment is in a "U" shape, and both ends of the opening of the "U" shape are respectively communicated with the valve core water inlet hole 15 and the valve core water outlet hole 16. The bottom of the "U" shape is opened along the radial direction of the horizontal side of the "cross" shape, and a valve core plug 14 is hermetically installed on the end face of the hole channel corresponding to the bottom of the "U" shape. In order to radially open the bottom hole channel in the shape of a "U" inside the valve core 2, a hole needs to be radially opened on the side surface of the valve core 2. After the bottom hole channel in the shape of a "U" is processed, the valve core plug 14 and the O-ring 9 are installed at the opening on the side surface of the valve core 2 to achieve sealing.

[0023] In this embodiment, seal ring grooves are provided around the valve core water inlet hole 15 and each rotary valve cover water inlet hole 12, and O-rings 9 are accommodated in the seal ring grooves. The O-ring 9 around the valve core water inlet hole 15 is used to achieve sealing when the valve core water inlet hole 15 is communicated with the rotary valve cover water inlet hole 12, and the O-ring 9 around the rotary valve cover water inlet hole 12 is used for sealed connection with the filter.

[0024] The power source of this embodiment is a stepper motor 5. The output end of the stepper motor 5 is connected to the lower end of the vertical side of the "cross" shape of the valve core 2 through a coupling 4. The stepper motor 5 is covered with a motor cover 6. The lower surface of the lower rotary valve cover 3 is hermetically fixed with a stepper motor fixing member 10. The stepper motor fixing member 10 is fixed on the lower surface of the lower rotary valve cover 3 by screws and sealed through an O-ring 9. The lower end of the vertical side of the "cross" shape of the valve core 2, the coupling 4 and the output end of the stepper motor 5 are connected inside the stepper motor fixing member 10. The upper end of the motor cover 6 is fixed on the stepper motor fixing member 10 by screws and sealed through an O-ring 9. The lower end of the motor cover 6 is fixedly connected with a motor end cover 7 by screws and sealed through an O-ring 9. A feedthrough connector 8 is threadedly connected to the motor end cover 7 and sealed through an O-ring 9. The feedthrough connector 8 is respectively connected to the stepper motor 5 and an external control system to control the rotation of the stepper motor 5 through the external control system.

[0025] The working principle of the present invention is as follows:

[0026] The stepper motor 5 drives the valve core 2 to rotate. The valve core water inlet hole 15 is sequentially communicated with each rotary valve cover water inlet hole 12. External fluids (such as seawater) at different depths flow into the valve core 2 through the rotary valve cover water inlet hole 12 and the valve core water inlet hole 15, and flow out through the water outlet hole joint 13 after passing through the valve core internal hole channel 18, the valve core water outlet hole 16 and the rotary valve cover water outlet channel 17, and can be used for biochemical sampling of seawater in different depth environments, etc.

Claims

1. A rotary valve device for an underwater robot, characterized in that: It includes a rotary valve cover, a valve core (2) and a power source. The valve core (2) is rotatably installed inside the rotary valve cover. The power source is sealed and installed on the rotary valve cover, and the output end of the power source is connected to the valve core (2). A plurality of rotary valve cover water inlet holes (12) are evenly arranged on the rotary valve cover along the circumferential direction. An outlet hole channel joint (13) is also provided on the rotary valve cover. A valve core water inlet hole (15) and a valve core water outlet hole (16) are respectively opened on the valve core (2). One end of the valve core water inlet hole (15) is communicated with one end of the valve core water outlet hole (16) through a valve core internal hole channel (18) arranged inside the valve core (2). The other end of the valve core water outlet hole (16) is communicated with the outlet hole channel joint (13) through a rotary valve cover water outlet hole channel (17) arranged inside the rotary valve cover. The power source drives the valve core (2) to rotate. The other end of the valve core water inlet hole (15) is sequentially communicated with each rotary valve cover water inlet hole (12). Seawater at different depths flows into the valve core (2) through the rotary valve cover water inlet hole (12) and the valve core water inlet hole (15), and flows out from the outlet hole channel joint (13) after passing through the valve core internal hole channel (18), the valve core water outlet hole (16), and the rotary valve cover water outlet hole channel (17), for biochemical sampling of seawater at different depths.

2. The rotary valve device for an underwater robot according to claim 1, characterized in that: The rotary valve cover is divided into a detachable rotary valve upper cover (1) and a rotary valve lower cover (3). The valve core (2) is rotatably installed in the space formed by the sealed connection of the rotary valve upper cover (1) and the rotary valve lower cover (3). The power source is sealed and installed on the lower surface of the rotary valve lower cover (3). A plurality of rotary valve cover water inlet holes (12) are evenly arranged on the rotary valve upper cover (1) along the circumferential direction. Each rotary valve cover water inlet hole (12) is respectively communicated with the space where the valve core (2) is installed. The rotary valve cover water outlet hole channel (17) and the outlet hole channel joint (13) are both arranged on the rotary valve upper cover (1).

3. The rotary valve device for an underwater robot according to claim 2, characterized in that: Each of the rotary valve cover water inlet holes (12) is axially opened on the rotary valve upper cover (1) and penetrates through the rotary valve upper cover (1). The axial center lines of each of the rotary valve cover water inlet holes (12) are parallel to each other and parallel to the axial center lines of the valve core (2), the rotary valve upper cover (1), and the rotary valve lower cover (3). The axial center lines of the rotary valve upper cover (1), the valve core (2), and the rotary valve lower cover (3) are collinear.

4. The rotary valve device for an underwater robot according to claim 1, characterized in that: The axial cross-section of the valve core (2) is in the shape of a "plus" sign. The two ends of the vertical sides of the "plus" sign are respectively rotatably connected to the rotary valve cover through bearings. The output end of the power source is connected to the lower end of the vertical side of the "plus" sign. The valve core water outlet hole (16) is opened at the upper end of the vertical side of the "plus" sign. The valve core water inlet hole (15) is opened on the horizontal side of the "plus" sign.

5. The rotary valve device for an underwater robot according to claim 1, characterized in that: The internal passage (18) of the valve core is in a "U" shape. The two ends of the opening of the "U" shape are respectively communicated with the water inlet hole (15) and the water outlet hole (16) of the valve core. The bottom of the "U" shape is opened along the radial direction of the valve core (2), and a valve core plug (14) is hermetically installed on the end face of the passage corresponding to the bottom of the "U" shape.

6. The rotary valve device for an underwater robot according to claim 1, characterized in that: Sealing ring grooves are provided on the peripheries of the water inlet hole (15) of the valve core and the water inlet holes (12) of each rotary valve cover. An O-ring seal (9) is accommodated in the sealing ring groove. The O-ring seal (9) on the periphery of the water inlet hole (15) of the valve core is used to achieve sealing when the water inlet hole (15) of the valve core is communicated with the water inlet hole (12) of the rotary valve cover, and the O-ring seal (9) on the periphery of the water inlet hole (12) of the rotary valve cover is used for hermetically connecting with the filter.

7. The rotary valve device for an underwater robot according to claim 1, characterized in that: The power source is a stepper motor (5). The output end of the stepper motor (5) is connected to the valve core (2) through a coupling (4). The stepper motor (5) is covered with a motor cover (6). A stepper motor fixing member (10) is hermetically fixed to the lower surface of the rotary valve cover. The upper end of the motor cover (6) is hermetically connected to the stepper motor fixing member (10). The lower end of the motor cover (6) is hermetically connected to a motor end cover (7). A through-hull connector (8) is hermetically connected to the motor end cover (7). The stepper motor (5) is connected to an external control system for controlling the rotation of the stepper motor (5) through the through-hull connector (8).

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