Method for adjusting a multi-operation mode buoyancy control device

Abstract

The present invention discloses a multi-operation mode buoyancy adjustment device and adjustment method, which includes a cabin, a thrust assembly, a cavity assembly, and a rubber bladder assembly, the cavity assembly includes a first cavity and a second cavity, the rubber bladder assembly includes a first rubber bladder and a second rubber bladder, the thrust assembly includes a first thrust assembly and a second thrust assembly, and the thrust assembly controls the inflow and outflow of oil and water to adjust the volume and gravity of the buoyancy adjustment device, and further adjusts the buoyancy and position and attitude of the buoyancy adjustment device. The present invention provides a formula for calculating the amount of deviation of the center of gravity of the buoyancy adjustment device when the buoyancy adjustment device changes its position and attitude in water during buoyancy adjustment, and a buoyancy calculation formula and a state discrimination method corresponding to various operation modes, which performs buoyancy adjustment in multiple operation modes and calculates the position change of the center of gravity of the buoyancy adjustment device in various operation modes, which meets various practical needs and is practical.

Description

[Technical Field]

[0001] The present invention relates to a buoyancy adjustment device for a marine vehicle, and more particularly to a multi-operation mode buoyancy adjustment device and adjustment method. [Background technology]

[0002] The 21st century is the century of the oceans, and marine resources and territorial rights have become hotspots for countries to pursue. A buoyancy adjustment device for an underwater vehicle is used to enable the vehicle to lower, rise, suspend, navigate at constant depth, and adjust its attitude, and is an essential component for enabling the vehicle to move freely. The overall structure of patent number CN102975835A (a seawater piston-adjustable planing submersible) is shown in Figure 10. This submersible employs a single piston-cylinder structure, adjusting its buoyancy by suctioning and discharging water from one piston cylinder (6) shown in the figure. However, this structure results in the piston cylinder's axial dimension being too large, limiting the adjustable range. Furthermore, the single-cylinder design is detrimental to the balance and stability of the entire device.

[0003] Patent number CN202120973457.6 (Buoyancy Adjustable Attitude Controller with Adjustable Center of Gravity and Buoyancy) proposes that the center of gravity of the device changes when adjusting buoyancy, but does not provide a specific method or formula for calculating the center of gravity.

[0004] Patent number CN202020404403.3 (Buoyancy adjustment mechanism and underwater vehicle having said buoyancy adjustment mechanism) uses a bidirectional pump and a three-way solenoid valve to achieve volume conversion between the inner and outer oil pods to achieve buoyancy adjustment, but it can only achieve two operating modes, namely, floating and lowering the device, and cannot meet the various operating mode requirements required underwater.

[0005] To address the above issues, the technical problem that needs to be solved urgently is how to provide a buoyancy adjustment device that has a reliable structure, a wide adjustable range, and can realize multiple operating modes, and how to calculate the change in the position of the center of gravity of the buoyancy adjustment device in various operating modes. Summary of the Invention

[0006] In view of this problem, the present invention aims to provide a multi-operation mode buoyancy adjustment device and adjustment method that can adjust buoyancy in various operation modes and calculate the change in the position of the center of gravity of the buoyancy adjustment device in various operation modes.

[0007] Technical solution: A multi-operation mode buoyancy adjustment device according to the present invention includes a cabin, a thrust assembly, a cavity assembly, and a rubber bladder assembly; the cavity assembly includes a first cavity and a second cavity, the rubber bladder assembly includes a first rubber bladder and a second rubber bladder, and the thrust assembly includes a first thrust assembly and a second thrust assembly; The thrust assembly controls the intake and exhaust of oil and water to adjust the volume and gravity of the buoyancy adjustment device, and further adjusts the buoyancy and position and attitude of the buoyancy adjustment device.

[0008] The first thrust assembly and the second thrust assembly each include an electric push rod and a piston, the piston being moved by the action of the electric push rod.

[0009] The cavity assembly and the rubber bag assembly are connected by piping, and the cavity assembly and the rubber bag assembly are provided with gate valves that control the flow of oil or water into and out of the cavity assembly and the rubber bag assembly.

[0010] The method for adjusting a multi-operation mode buoyancy adjustment device according to the present invention comprises the steps of: ( S 1) The length of the first cavity and the second cavity is h, the diameter is d, oil is contained in the first cavity and the second cavity, and the gravity G of the buoyancy control device is装1 is the buoyancy force F 浮1 The step at which the buoyancy control device sinks horizontally is greater than the S1 and, ( S 2) The first thrust assembly is moved by L, and the oil in the second cavity is allowed to enter the second rubber bag. While the second thrust assembly is moved by L, the gate valve is opened, and the oil in the first cavity is allowed to enter the first rubber bag. The gravity G of the buoyancy control device 装2 is the buoyancy force F 浮2 and the device floats horizontally,

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[0011] Steps S1 In

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[0012] Steps S2 In

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[0013] Steps S5 In

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[0014] Steps S6 Buoyancy F 浮6 Step S5 It is the same as gravity G 装6 grows larger, Number 16 As shown in

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[0015] Beneficial Effects: The present invention has the following advantages over the prior art: ( advantage 1) The buoyancy control device of the present invention adopts a symmetrical structural design, equipped with two sets of electric push rods and pistons, and six sets of pipelines and twelve ports to control the inflow and outflow of oil and water in the entire device. This structure not only increases the buoyancy adjustment range, but also benefits the balance and stability of the entire device. ( advantage 2) Compared with conventional buoyancy control devices, the buoyancy control device of the present invention includes six different operating modes in the original state, allowing the device to achieve uniform position and attitude adjustment in seawater and meet various practical needs. ( advantage 3) Compared with conventional buoyancy control devices, the present invention provides a formula for calculating the amount of deviation of the center of gravity of the device when the device changes its position and attitude in the sea, as well as a buoyancy calculation formula and state determination method corresponding to various operating modes, making it highly practical. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram of a multi-operation mode buoyancy control device of the present invention. [Figure 2] 1 is a horizontal floating schematic diagram of the multi-operation mode buoyancy control device of the present invention. FIG. [Figure 3] 1 is a schematic diagram of horizontal floating of the multi-operation mode buoyancy control device of the present invention; FIG. [Figure 4] 1 is a schematic diagram of the inclined floating of the multi-operation mode buoyancy control device of the present invention; FIG. [Figure 5] 1 is a schematic diagram of the tilted floating of the multi-operation mode buoyancy adjustment device of the present invention. [Figure 6] 1 is a schematic diagram of vertical buoyancy control device of the present invention, showing its multi-operation mode. [Figure 7] 1 is a schematic diagram of vertical buoyancy of the multi-operation mode buoyancy adjustment device of the present invention. FIG. [Figure 8] 1 is a schematic diagram of the vertical sinking of the multi-operation mode buoyancy control device of the present invention; FIG. [Figure 9] 1 is a schematic diagram of vertical sinking of the multi-operation mode buoyancy adjustment device of the present invention; [Figure 10] FIG. 1 is a schematic diagram of the overall structure of a conventional submarine vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0017] As shown in Figures 1 to 9, the multi-operation mode buoyancy adjustment device of the present invention comprises a cabin 10, a thrust assembly, a cavity assembly, and a rubber bladder assembly, the cavity assembly comprising a first cavity 3 and a second cavity 26, the rubber bladder assembly comprising a first rubber bladder 12 and a second rubber bladder 17, the thrust assembly comprising a first thrust assembly and a second thrust assembly, wherein the first thrust assembly comprises a first electric push rod 15 and a second piston 27, and the second thrust assembly comprises a second electric push rod 29 and a first piston 8.

[0018] The rubber bladder assembly is fixed to the cabin 10 via clips 11, and oil is stored in the first cavity 3 and the second cavity 26. Here, the left end cap 2 and the right end cap 22 are fixed to the cabin 10 via first screws 1, the first electric push rod 15 and the second electric push rod 29 are fixed to the cabin base via second screws 14, and the first rubber bladder 12 and the second rubber bladder 17 are fixed to the cabin by clips 11, and locking grooves are opened at the connection points to play a role in solidification.

[0019] An O-shaped rubber ring 9 is fitted to the outside of the first piston 8 and the second piston 27, and the attachment part of the O-shaped rubber ring 9 is compact, lightweight, has low kinetic friction resistance, and further completes the sealing between the piston and the cabin.

[0020] Two sets of electric push rods in the cavity propel the pistons, and six pipes and 12 gate valves control the flow of oil and seawater into and out of the entire device, achieving the purpose of adjusting the volume and mass of the entire device, and finally realizing the position and attitude adjustment of the entire device to accommodate various operating modes.

[0021] The specific steps of the multi-operation mode buoyancy adjustment according to the present invention are as follows: ( Step S 1) As shown in Figure 1, the buoyancy control device has a cylindrical outer shape with two rubber bags connected to its exterior. The length of the buoyancy control device is H, the diameter is D, and the lengths of the first cavity 3 and the second cavity 26 are both h and d, respectively. At this time, the oil 7 in the first cavity 3 within the device is not forced into the first rubber bag 12, and neither of the oils 7 in the second cavity 26 is forced into the second rubber bag 17, causing the entire device to sink horizontally (original state). The gravity G acting on the entire device is 装1 The formula is Number 22 As shown in

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[0022] ( Step S 2) As shown in FIG. 2, the first electric push rod 15 is activated to move the second piston 27 to the right, i.e., to one side.

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[0023] ( Step S3) As shown in Fig. 3, activate the first electric push rod 15 to move the second piston 27 to the right by a distance of K (L < K ≤ h), open the No. 5 gate valve 19 and the No. 6 gate valve 21, and allow the oil 7 in the second cavity 26 to enter the second rubber bag 17 through the No. 3 pipe 20. At the same time, activate the second electric push rod 29 to move the first piston 8 to the left by a distance of K (L < K ≤ h), open the No. 11 gate valve 32 and the No. 12 gate valve 34, and allow the oil 7 in the first cavity 3 to enter the first rubber bag 12 through the No. 6 pipe 33. Here, if the first electric push rod and the second electric push rod are activated simultaneously to move the pistons forward, the gravity G 装3 received by the device remains unchanged, but the buoyancy F 浮3 received by the device increases significantly, and its formula is shown in Number 30 and [Number] Here, V 油3 is the volume of the oil transported from the first cavity and the second cavity in the device to the rubber bag assembly in this operating mode, and its formula is shown in Number 31 and [Number] <​​​​​​​​​​​​​​​4) As shown in Figure 4, the first electric push rod 15 is activated, moving the second piston 27 to the right, i.e., a distance of 2L to the right side, and the third gate valve 13 and the fourth gate valve 18 are opened to allow the oil 7 in the second cavity 26 to enter the first rubber bag 12 through the second pipe 16. In the final state, as shown in Figure 5, the device tilts to the left and the center of gravity 37 of the entire device shifts to the left, but the gravity acting on the device at this time is offset by the buoyancy, and the device tilts and floats in the water. Since the entire device is symmetrical, in this step, the position and attitude are adjusted by controlling the equipment at the other end, that is, the second electric push rod 29 is activated, the first piston 8 is moved 2L to the left, and the ninth gate valve 28 and the tenth gate valve 31 are opened to allow the oil 7 in the first cavity 3 to enter the second rubber bag 17 via the fifth pipe 30, causing the device to tilt to the right and the center of gravity 37 of the entire device to shift to the right, but the gravity acting on the device at this time is offset by the buoyancy, and the device tilts and floats in the water. The gravity G acting on the device at this time 装4 does not change, but the buoyancy force F 浮4 The formula is Number 32 As shown in

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[0025] ( Step S (5) As shown in FIG. 6, activate the first electric push rod 15, move the second piston 27 to the right by a distance J (L < J ≦ h) (here, J = h is taken), open the 3rd gate valve 13 and the 4th gate valve 18, and let the oil 7 in the second cavity 26 enter the first rubber bag 12 through the 2nd pipe 16. At the same time, activate the second electric push rod 29, move the first piston 8 to the left by a distance J, open the 11th gate valve 32 and the 12th gate valve 34, and let the oil 7 in the first cavity 3 enter the first rubber bag 12 through the 6th pipe 33. The final state is shown in FIG. 7. The device is reversed, the center of gravity 37 of the entire device shifts to the left, and at this time, the gravity received by the device is smaller than the buoyancy, and the device vertically floats in water. The gravity G 装5 [[ID=Thread]]received by the device remains unchanged, and the formula for the buoyancy F 浮5 received by the device is shown in Number 37 shown in [Number] where V 油5 is the volume of oil transported into the first rubber bladder from the first and second cavities in the device in this operating mode, and its formula is: Number 38 As shown in

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[0026] ( Step S 6) As shown in Figure 8, step S5 After that, all gate valves and pipes are closed, and the first gate valve 4, the second gate valve 6, the seventh gate valve 23, and the eighth gate valve 25 are opened, and the first electric push rod 15 and the second electric push rod 29 are activated to pull back the piston, and seawater 35 is sucked into the first cavity and the second cavity through the first pipe 5 and the fourth pipe 24 until the entire cavity is filled. As shown in Figure 9, after the device has absorbed water, it sinks vertically, and the center of gravity of the entire device is still in the vertical direction. At this time, the gravity acting on the device becomes larger than the buoyancy, and the device sinks vertically into the water. At this time, the buoyancy F acting on the device 浮6 Step S5 The force of gravity G 装6 becomes large and the formula becomes Number 40 As shown in

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Claims

A method for adjusting a multi-operation mode buoyancy adjustment device, comprising: The multi-operation mode buoyancy adjustment device includes a cabin (10), a thrust assembly, a cavity assembly, and a rubber bag assembly. The cavity assembly includes a first cavity (3) and a second cavity (26). The rubber bag assembly includes a first rubber bag (12) and a second rubber bag (17). The thrust assembly includes a first thrust assembly and a second thrust assembly. A pipe (33) connecting the first cavity (3) and the first rubber bag (12). A pipe (20) connecting the second cavity (26) and the second rubber bag (17). A pipe (16) connecting the second cavity (26) and the first rubber bag (12). A pipe (5) for sucking water into the first cavity (3). A pipe (24) for sucking water into the second cavity (26). Gate valves for controlling the inflow and outflow of oil or water are provided in the pipes (33, 20, 16, 5, 24), respectively. By controlling the inflow and outflow of oil and water, the thrust assembly adjusts the volume and gravity of the buoyancy adjustment device, and further adjusts the buoyancy and position and attitude of the buoyancy adjustment device. Let the length of the first cavity (3) and the second cavity (26) be h and the diameter be d. Oil is contained in the first cavity and the second cavity. The gravity G_zhuang1 of the buoyancy adjustment device is greater than the buoyancy F_fu1, and the buoyancy adjustment device sinks horizontally in step S1. Move the first thrust assembly by L, and while allowing the oil (7) in the second cavity (26) to enter the second rubber bag (17), move the second thrust assembly by L, and allow the oil in the first cavity (3) to enter the first rubber bag (12). The gravity G_zhuang2 of the buoyancy adjustment device becomes equal to the buoyancy F_fu2, and the device floats horizontally. [Equation 46] This is step S2. Move the first thrust assembly by K, and while allowing the oil (7) in the second cavity (26) to enter the second rubber bag (17), move the second thrust assembly by K, and allow the oil in the first cavity (3) to enter the first rubber bag (12). The gravity G_zhuang3 of the device becomes equal to the buoyancy F_fu3, and the device rises horizontally, where L < K ≤ h in step S3. Step S4: moving the first thrust assembly by 2L, causing the oil in the second cavity (26) to enter the first rubber bag (12), so that the center of gravity of the device shifts, the gravity G4 of the device becomes equal to the buoyancy F4, and the device floats on an incline; Step S5: moving the first thrust assembly by a distance J, causing the oil in the second cavity (26) to enter the first rubber bag (12), and pressing the second thrust assembly to move by a distance J, causing the oil in the first cavity (3) to enter the first rubber bag (12), causing the device to invert and the center of gravity to shift, so that the gravity G5 of the device becomes smaller than the buoyancy F5; A method for adjusting a multi-operating mode buoyancy adjustment device, characterized in that after performing step S5, seawater is sucked into the first cavity and the second cavity via the first thrust assembly and the second thrust assembly, so that the gravity G of the device becomes greater than the buoyancy F of the device, and the center of gravity of the device is shifted but in the vertical direction, and the device sinks vertically.

2. 2. The method for adjusting a multi-operation mode buoyancy adjustment device according to claim 1, wherein the first thrust assembly and the second thrust assembly comprise an electric push rod and a piston, and the piston is moved by the action of the electric push rod.

3. a pipe (30) connecting the first cavity (3) and the second rubber bag (17); 2. The method for adjusting a multi-operation mode buoyancy adjustment device according to claim 1, wherein the piping (30) is provided with a gate valve for controlling the inflow and outflow of oil or water.

4. In step S1, [Equation 47] and G キャビン1 is the gravity acting on the cabin, and G 油1 is the gravitational force acting on the oil throughout the device, [Number 48] and V キャビン 2. The method for adjusting a multi-operating mode buoyancy adjustment device according to claim 1, wherein: ∑ is the volume of the cabin, H is the length of the buoyancy adjustment device, and D is the diameter of the buoyancy adjustment device.

5. In step S2, [Number 49] and Here, V 油2 is the volume of oil transported from the first cavity and the second cavity to the rubber bladder assembly; [Number 50] 2. The method for adjusting a multi-operation mode buoyancy adjustment device according to claim 1, wherein:

6. In step S3, [0.51] and V 油3 is the volume of oil transported from the first cavity and the second cavity to the rubber bladder assembly; [Number 52] 2. The method for adjusting a multi-operation mode buoyancy adjustment device according to claim 1, wherein:

7. In step S4, [Number 53] and V 油4 is the volume of oil transported from the second cavity to the first rubber bladder, [Number 54] and The amount of deviation of the center of gravity (36) of the oil in the device relative to the center of gravity (40) of the oil in the first rubber bladder is p, the amount of deviation of the center of gravity (39) of the oil in the second cavity relative to the center of gravity (40) of the oil in the first rubber bladder is q, the amount of deviation of the center of gravity (37) of the device relative to the center of gravity (38) of the cabin is s, and the amount of deviation of the center of gravity (40) of the oil in the first rubber bladder relative to the center of gravity (38) of the cabin is r, where q and r are known quantities. The formula for calculating the amount of deviation p of the center of gravity (36) of the oil in the device relative to the center of gravity (40) of the oil in the rubber bladder is shown in Equation 55: [Number 55] Here, m 油1 is the mass of oil in the first cavity, m 油2 is the mass of oil in the first rubber bladder, and assuming 2L=h, the equation is as shown in Equation 56: [Number 56] The equation for the deviation s of the center of gravity (37) of the device relative to the center of gravity (38) of the cabin is shown in Equation 57: [Number 57] Here, m 油 is the mass of oil in the entire device, m キャビン is the mass of the cabin, At this time, the gravity G of the entire device 装4 is the buoyancy force F 浮4 and the center of gravity of the device is shifted to one side, causing the device to float on an incline.

8. In step S5, [Number 58] and [Number 59] and Here, V 油5 is the volume of oil transported from the first cavity and the second cavity to the first rubber bladder, If the amount of deviation of the center of gravity (36) of the oil in the device relative to the center of gravity (38) of the cabin is n, and the amount of deviation of the center of gravity (37) of the device relative to the center of gravity (38) of the cabin is m, m is shown in Equation 60: [Number 60] At this time, the gravity G acting on the device 装5 is the buoyancy force F 浮5 and the center of gravity of the device is shifted to one side, causing the device to float vertically.

9. The buoyancy F in step S6 浮6 is unchanged compared to step S5, but gravity G 装6 becomes large, as shown in Equation 61, [Number 61] Here, G 水 is the gravity force acting on the water drawn into the device, as shown in Equation 62: [Number 62] Therefore, the buoyancy force F 浮6 The formula is shown in Equation 63: [Number 63] At this time, if the amount of deviation of the center of gravity (36) of the oil in the device relative to the center of gravity (38) of the cabin is y, and the amount of deviation of the center of gravity (37) of the device relative to the center of gravity (38) of the cabin is x, the formula for x is shown in Equation 64. [Number 64] Here, m 水 is the mass of seawater sucked into the device, and the formula is shown in Equation 65: [Number 65] At this time, the gravity G of the device 装6 is the buoyancy force F 浮6 6. The method for adjusting a multi-operation mode buoyancy adjustment device according to claim 5, wherein the center of gravity of the device is shifted to one side and the device sinks vertically.

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