阅读说明：本技术 水下沉浮系统及具有该系统的水下机器人 (Underwater sinking and floating system and underwater robot with same ) 是由 熊明磊 陈龙冬 刘召斌 刘海斌 于 2020-05-12 设计创作，主要内容包括：本发明提供了一种水下沉浮系统,涉及水下作业技术领域,主要目的是提供一种可靠性较高的水下沉浮系统。该水下沉浮系统,能控制相关设备下降或上浮至水体中的不同高度,包括柔性囊、液压系统和蓄能装置,所述蓄能装置与所述柔性囊通过所述液压系统相连,其中所述柔性囊的至少一侧暴露在外界环境中,所述液压系统能带动流体在所述柔性囊和所述蓄能装置之间移动以改变所述柔性囊的体积。当流体在液压系统和柔性囊之间流动时,柔性囊的体积会受其内部流体含量的多少而产生相应变化,进而改变该装置所受到的浮力大小。当装置所受到的浮力产生变化时,相应的其在水体中的深度也会发生变化。本发明还提供了一种具有该设备的水下机器人。(The invention provides an underwater sinking and floating system, relates to the technical field of underwater operation, and mainly aims to provide an underwater sinking and floating system with high reliability. The underwater sinking and floating system can control related equipment to descend or float to different heights in a water body, and comprises a flexible bag, a hydraulic system and an energy storage device, wherein the energy storage device is connected with the flexible bag through the hydraulic system, at least one side of the flexible bag is exposed in the external environment, and the hydraulic system can drive fluid to move between the flexible bag and the energy storage device so as to change the volume of the flexible bag. When fluid flows between the hydraulic system and the flexible bag, the volume of the flexible bag is correspondingly changed by the content of the fluid in the flexible bag, and the buoyancy of the device is further changed. When the buoyancy to which the device is subjected changes, the depth of the device in the body of water changes accordingly. The invention also provides an underwater robot with the equipment.)

1. An underwater sinking and floating system capable of descending or floating to different heights in a water body is characterized by comprising a flexible bag, a hydraulic system and an energy storage device, wherein the energy storage device is connected with the flexible bag through the hydraulic system, at least one side of the flexible bag is exposed to the external environment, and the hydraulic system can drive fluid to move between the flexible bag and the energy storage device so as to change the volume of the flexible bag.

2. The underwater system of claim 1, wherein the hydraulic system comprises a motor pump and a control valve set, wherein the motor pump is a hydraulic pump driven by a motor, the control valve set comprises a sinking valve set and a floating valve set capable of adjusting the flow direction of fluid, and a one-way control valve with fixed flow direction, and the hydraulic pump and the one-way control valve are communicated with the flexible bag and the energy storage device;

the sinking valve group comprises a first reversing valve and a second reversing valve, and the floating valve group comprises a third reversing valve and a fourth reversing valve.

3. An underwater floatation system according to claim 2, wherein there are at least two branches between the energy storage means and the flexible bladder, including a first branch and a second branch.

4. The underwater buoyant system of claim 3 wherein the one-way control valve is capable of controlling fluid flow from the direction of the flexible bladder to the direction of the energy storage device;

the first reversing valve is located between the hydraulic pump and the flexible bag, the second reversing valve is located between the hydraulic pump and the energy storage device, and the third reversing valve and the fourth reversing valve are located in the first branch and the second branch respectively;

starting the hydraulic pump and adjusting the sinking valve group to be in a conducting state, enabling the floating valve group to be in a normal position, and enabling fluid in the oil bag to sequentially flow into the energy storage device through the first reversing valve, the hydraulic pump, the one-way control valve and the second reversing valve;

and starting the hydraulic pump and adjusting the sink valve group to be in a normal position, the floating valve group is in a conducting state, and fluid in the energy storage device sequentially flows through the third reversing valve, the hydraulic pump, the one-way control valve and the fourth reversing valve to flow into the flexible bag.

5. The underwater buoyant system of claim 3 wherein the one-way control valve is capable of controlling fluid flow from the direction of the energy storage device to the direction of the flexible bladder;

the third reversing valve is positioned between the hydraulic pump and the flexible bag, the fourth reversing valve is positioned between the hydraulic pump and the energy storage device, and the first reversing valve and the second reversing valve are respectively positioned on the first branch and the second branch;

starting the hydraulic pump and adjusting the sink valve group to be in a normal position, the float valve group is in a conducting state, and fluid in the energy storage device flows into the flexible bag through the third reversing valve, the hydraulic pump, the one-way control valve and the fourth reversing valve in sequence;

and starting the hydraulic pump and adjusting the sinking valve group to be in a conducting state, the floating valve group is in a normal position, and fluid in the oil bag sequentially flows into the energy storage device through the first reversing valve, the hydraulic pump, the one-way control valve and the second reversing valve.

6. The underwater floating and sinking system of claim 3, wherein at least one of a throttle valve, an overflow valve and a pressure reducing valve is further arranged on the first branch and/or the second branch.

7. Underwater heaving system according to claim 1, wherein the hydraulic system comprises a first and a second control system communicating with the flexible bladder and the energy storage means, respectively, the first control system comprising a first hydraulic pump and a first one-way valve, and the second control system comprising a second hydraulic pump and a second one-way valve, wherein the flow direction of the fluid in the first and second one-way valves is opposite.

8. The underwater buoyant system of claim 1 wherein the outside of the energy storage means is provided with a pressure sensor.

9. An underwater floatation system according to claim 1, wherein the fluid is hydraulic oil.

10. An underwater robot comprising an underwater buoyant system according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of underwater operation, in particular to an underwater robot which can adjust the depth of equipment and is provided with an underwater sinking and floating system.

Background

The underwater bionic robot is used as an integrated body of underwater high-technology instruments and equipment, and has wide application prospect and great potential value in the fields of military affairs, civil use, scientific research and the like. The underwater bionic robot starts from simulating fish swimming, realizes propulsion by simulating the swing of the tail of the fish by using a motor-driven mechanical system at first, and realizes propulsion by adopting a novel bionic material and a novel bionic driving mode in the development stage. Various underwater bionic robots developed by scientific research institutions at home and abroad can simulate underwater organisms to realize various motion modes such as quick start, turning and the like, but the underwater bionic robots are difficult to compare favorably with the organisms in the aspects of propulsion speed, propulsion efficiency and the like, the maneuverability and the stability are insufficient, and bionic materials are not effectively applied, so that the underwater bionic robots have great progress space in the aspects of sinking and floating, resistance reduction and high pressure resistance in water and need to be further researched and optimized by scientific researchers.

The conventional sinking and floating device for the underwater robot adjusts the buoyancy of the robot in a mode of changing the water discharge volume through a mechanical structure, has low reliability in seawater, is easy to corrode and the like, and is particularly suitable for deep sea environment. Therefore, there is a need to develop a buoyancy adjusting device that is not mechanically drained to increase the stability of the apparatus.

Disclosure of Invention

The invention aims to provide an underwater robot with an underwater sinking and floating system, which aims to solve the technical problem that the sinking and floating system in the underwater robot in the prior art is low in reliability when in use. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides an underwater sinking and floating system which can descend or float to different heights in a water body and comprises a flexible bag, a hydraulic system and an energy storage device, wherein the energy storage device is connected with the flexible bag through the hydraulic system, at least one side of the flexible bag is exposed in the external environment, and the hydraulic system can drive fluid to move between the flexible bag and the energy storage device so as to change the volume of the flexible bag.

When fluid flows between the hydraulic system and the flexible bag, the volume of the flexible bag is correspondingly changed by the content of the fluid in the flexible bag, and the buoyancy of the device is further changed. When the buoyancy to which the device is subjected changes, the depth of the device in the body of water changes accordingly. When the submersible vehicle needs to dive, the hydraulic system conveys the fluid in the flexible bag into the energy storage device, so that the water discharge is reduced, and the submersible vehicle can dive quickly; when the floating is needed, the hydraulic system conveys the fluid in the energy storage device to the flexible bag, the water discharge is increased, and the equipment floats quickly; when the suspension device needs to be suspended in a water body at a certain depth, the hydraulic system is only required to be closed as required.

In the above technical solution, preferably, the hydraulic system includes a motor pump and a control valve group, wherein the motor pump is a hydraulic pump driven by a motor, the control valve group includes a sinking valve group and a floating valve group capable of adjusting a flow direction of a fluid, and a one-way control valve having a fixed flow direction, and the hydraulic pump and the one-way control valve communicate the flexible bag and the energy storage device;

the sinking valve group comprises a first reversing valve and a second reversing valve, and the floating valve group comprises a third reversing valve and a fourth reversing valve.

In the above technical solution, preferably, at least two branches including a first branch and a second branch exist between the energy storage device and the flexible bag.

In the above technical solution, preferably, the one-way control valve can control the fluid to flow from the direction of the flexible bag to the direction of the energy storage device;

the first reversing valve is located between the hydraulic pump and the flexible bag, the second reversing valve is located between the hydraulic pump and the energy storage device, and the third reversing valve and the fourth reversing valve are located in the first branch and the second branch respectively;

starting the hydraulic pump and adjusting the sinking valve group to be in a conducting state, enabling the floating valve group to be in a normal position, and enabling fluid in the oil bag to sequentially flow into the energy storage device through the first reversing valve, the hydraulic pump, the one-way control valve and the second reversing valve;

and starting the hydraulic pump and adjusting the sink valve group to be in a normal position, the floating valve group is in a conducting state, and fluid in the energy storage device sequentially flows through the third reversing valve, the hydraulic pump, the one-way control valve and the fourth reversing valve to flow into the flexible bag.

In the above technical solution, preferably, the one-way control valve can control the fluid to flow from the direction of the energy storage device to the direction of the flexible bag;

the third reversing valve is positioned between the hydraulic pump and the flexible bag, the fourth reversing valve is positioned between the hydraulic pump and the energy storage device, and the first reversing valve and the second reversing valve are respectively positioned on the first branch and the second branch;

starting the hydraulic pump and adjusting the sink valve group to be in a normal position, the float valve group is in a conducting state, and fluid in the energy storage device flows into the flexible bag through the third reversing valve, the hydraulic pump, the one-way control valve and the fourth reversing valve in sequence;

and starting the hydraulic pump and adjusting the sinking valve group to be in a conducting state, the floating valve group is in a normal position, and fluid in the oil bag sequentially flows into the energy storage device through the first reversing valve, the hydraulic pump, the one-way control valve and the second reversing valve.

Through the structural arrangement, the fluid can be freely adjusted between the flexible bag and the energy storage device according to the requirement.

In the above technical solution, preferably, at least one of a throttle valve, an overflow valve, and a pressure reducing valve is further provided on the first branch and/or the second branch.

In the above technical solution, preferably, the hydraulic system includes a first control system and a second control system that respectively communicate the flexible bag and the energy storage device, the first control system includes a first hydraulic pump and a first check valve, the second control system includes a second hydraulic pump and a second check valve, and fluid in the first check valve and fluid in the second check valve flow in opposite directions.

In the above technical solution, preferably, a pressure sensor is disposed outside the energy storage device.

In the above technical solution, preferably, the fluid is hydraulic oil.

In the above technical solution, preferably, the energy storage device and the hydraulic system are both located inside a fixed chamber, one end of the chamber is provided with a hole for the flexible bag to extend out, and the flexible bag adjusts the height of the underwater floating system by adjusting the size of the volume extending out of the hole.

The invention also provides an underwater robot which comprises the underwater sinking and floating system.

Compared with the prior art, the invention provides an underwater floating and sinking system and an underwater robot with the same, wherein the underwater floating and sinking system comprises a flexible bag, a hydraulic system and an energy storage device, and the buoyancy force applied to equipment is changed by changing the content of oil liquid (namely the water discharge volume of the equipment) in the flexible bag, so that the equipment can float, hover or submerge. Compared with the traditional mechanical driving structure, the device has the advantages of relatively simple structure, convenience in control, rapid response, high stability and better adaptability to underwater environment, particularly deep sea environment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of an embodiment of the underwater submerging and surfacing system of the present invention;

FIG. 2 is a schematic view of a second embodiment of the underwater floating system of the present invention;

FIG. 3 is a schematic view of a third embodiment of the underwater floating system of the present invention;

fig. 4 is a schematic diagram of the overall structure of the underwater floating system of the invention.

In the figure: 1. a flexible bladder; 2. an energy storage device; 3. a hydraulic pump; 4. a control valve group; 41. a one-way control valve; 42. a first direction changing valve; 43. a second directional control valve; 44. a third directional control valve; 45. a fourth directional control valve; 5. a throttle valve; 6. a first control system; 7. a second control system; 8. a pressure sensor; 9. a chamber.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

The invention provides an underwater sinking and floating system and an underwater robot with the sinking and floating system, wherein the underwater sinking and floating system can float, hover or sink in water and comprises a flexible bag 1, a hydraulic system and an energy storage device 2, wherein the energy storage device 2 is connected with the flexible bag 1 through the hydraulic system, and when the hydraulic system works, the content of fluid in the flexible bag 1 and the content of fluid in the energy storage device 2 can be adjusted according to needs so as to change the volume of the flexible bag 1. At least one side of the flexible bag 1 is exposed to the water body environment, so when the volume of the flexible bag 1 is changed, the volume of the water body exhausted by the ups and downs system is correspondingly changed to realize the height adjustment of the system in the water.

When fluid flows between the hydraulic system and the flexible bag 1, the volume of the flexible bag 1 is changed correspondingly according to the content of the fluid in the flexible bag, and therefore the buoyancy of the device is changed. When the buoyancy to which the device is subjected changes, the depth of the device in the body of water changes accordingly. When the submersible vehicle needs to dive, the hydraulic system conveys the fluid in the flexible bag 1 into the energy storage device 2, so that the water discharge is reduced, and the submersible vehicle can dive quickly; when floating is needed, the hydraulic system conveys the fluid in the energy storage device 2 to the flexible bag 1, the water discharge is increased, and the equipment floats quickly; when the suspension device needs to be suspended in a water body at a certain depth, the hydraulic system is only required to be closed as required.

It should be noted that the above-mentioned flexible bag 1 may be an oil bag, a leather bag or a capsule, etc. as long as it has good toughness and deformation capability.

In addition, the fluid may be gas or liquid, such as nitrogen, argon, etc., and is preferably hydraulic oil.