CN100482534C - Single spherical shell docking apron - Google Patents
Single spherical shell docking apron Download PDFInfo
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- CN100482534C CN100482534C CNB2006101511688A CN200610151168A CN100482534C CN 100482534 C CN100482534 C CN 100482534C CN B2006101511688 A CNB2006101511688 A CN B2006101511688A CN 200610151168 A CN200610151168 A CN 200610151168A CN 100482534 C CN100482534 C CN 100482534C
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- spherical
- skirt
- apron
- connection pipe
- hatch
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Abstract
The single spherical shell docking apron is one submarine rescue aid especially suitable for replacing the 'fixed' rescue hatch of four-freedom dynamically positioned rescue vehicle to result in docking function of six-freedom dynamically positioned rescue vehicle. The present invention includes one spherical apron connected two short coaxial shafts and capable of fixed-axis rotating inside the spherical apron seat, one set of end face sealed bearings to ensure the rotation of the passage around the rescue vehicle hatch, spherical apron driving motor and spherical apron seat driving motor as the rotating power source and high pressure water union mounted onto the spherical apron seat to avoid fine sea water particle to enter the sliding surface. The present invention makes it possible to decrease the amount of dynamically positioning equipment for deep submersible rescue vehicle, and is favorable to the automatic control of the docking process.
Description
Technical field
A kind of single spherical shell docks skirt, belongs to submarine personnel's wrecking equipment.
Background technology
Begin plan development deep submersible rescue vehicle DSRV (Deep Submergency RescueVehicle) as far back as the U.S. in 1963.In June, 1966, Lockheed Missiles ﹠ Space Co. began to build first DSRV-I, following water in 1971.This is a manned submersible, and the special passage that dock with accident ship escape hatch (insider often is referred to as " skirt ", below these two nouns can exchange) is housed, to be rescued " doing " transfer of personnel on the ship of realizing having an accident.
Because accident ship escape hatch plane generally is not in horizontality, sometimes even have a very big longitudinal and transverse inclination angle, make four-degree-of-freedom dynamic positioning life boat be difficult to competent salvage work with " fixing " passage (skirt), address this problem two kinds of ways are arranged at present: the first is improved the dynamic positioning function of deep submersible rescue vehicle, on the basis of four-degree-of-freedom dynamic positioning system (DPS), increase trim and two kinds of positioning functions of heel, realize the six degree of freedom dynamic positioning; Another kind is that " fixing " passage (skirt) on the deep submersible rescue vehicle of four-degree-of-freedom dynamic positioning is adapted as " rotation " passage (skirt), to adapt to the trim and the heel on accident ship escape hatch plane.
Fairly obvious, in preceding a kind of scheme, not only need to install additional the longitudinal and transverse regulating mechanism that inclines, increase the control and the regulating power of the longitudinal and transverse motion of inclining of whole hull, and, greatly increased the complexity of control system because the math modeling of its motion has more variable, stronger coupling and nonlinear dynamic characteristics.It should be noted that: because the hull inertial mass is very big, not only consumption of power is big to utilize propelling unit that whole hull is carried out longitudinal and transverse meticulous conciliation of inclining, and anti-jamming capacity is poor.Then a kind of scheme does not need to change ripe four-degree-of-freedom dynamic positioning technology, dynamic positioning work area when promptly life boat being docked with accident ship hatch is divided into " integral body " and " part " two large divisions, the former is based on the four-degree-of-freedom dynamic positioning system (DPS), the target of location is " centering " (accident ship escape hatch is within the measurement range of life boat sensor) and " seat platform " (butt joint planes overlapping), and the latter's localizing objects is " leveling " (making passage butt joint plane parallel).
U.S. Pat 3987742 " Swivel air lock for airtight connection betweensubmergibles " (the airtight passage of the rotation that is used for being tightly connected between the hull under water) (1976.10.26) and U.S. Pat 5755532 " Articulating pressure conduit " (activity pressure passage) (1998.05.26) the research situation of above-mentioned second scheme disclosed.The constructional feature of previous patent is that two butt spherical shells are sleeved on together, forms relatively turnable spherical channel, and rotates respectively with under the promotion of skirt (skirt) and skirt (bell) pivotally attached pressurized strut (jacks) in the end.Fairly obvious, the adjustment essence of passage (skirt) butt joint flat orientation is to realize in the fixed-point motion of the centre of sphere at rigid body (spherical apron); In addition, the physical dimension of pressurized strut has reduced the action radius of skirt with respect to skirt again.The patent in back is thought the former setting range limited (have a limited ability), former end face with two wedge shape spherical shells (hollow wedge-shaped segment) is dynamically connected and forms an integral passage, except that the wedge shape spherical shell can relatively rotate, whole passage can rotate around the vertical axle of hull.So the adjustment in direction between whole passage and accident ship is to realize in the rotation process of two non-orthogonal axes separately or integrally at the wedge shape spherical shell.It is worth mentioning: (1) is in described patent, " freely rotate and seal " problem of rotation path has been a kind of prior art under the high static pressure environment of deep-sea, and mention two typical patent US4549753 " rotary joint (swivel) " adducible, that originally be used for the diving suit helmet and arm (1985.10.29) and US4903941 " pressure equalizing rotary joint (isobaric swivel) " (1990.02.27); (2) " fixed-point motion " and " around the rotation of two non-orthogonal axes " to cause the motion on passage butt joint plane to be described complicated, so do not mention in the patent document passage docked control policy and the step of adjusting to the preset bearing in the plane.In other words, when adopting above-mentioned two class rotation path, the adjustment in direction on passage butt joint plane may need the diver to use instruments (shown in the accompanying drawing of US5755532 patent documentation) such as hook, hawser.
Summary of the invention
The objective of the invention is to disclose a kind of single spherical shell butt joint skirt, the adjustment in direction on rotation path butt joint plane is to realize in twice independent rotation of two orthogonal axes.Four-degree-of-freedom dynamic positioning life boat of the present invention is installed can be in docking operation, needed six degree of freedom dynamic positioning Function Decomposition was " integral body " and " part " two large divisions when life boat was docked with accident ship hatch, the former is based on simple, the ripe four-degree-of-freedom dynamic positioning system (DPS) of technology, and the target of location is " centering " (accident ship escape hatch is within the measurement range of life boat skirt oral instructions sensor) and " seat platform " (butt joint planes overlapping); The latter's localizing objects is " leveling " (making passage butt joint plane parallel), because the adjustment in direction on passage butt joint plane is realized the automatic guidance of the docking operation that is highly advantageous in twice independent rotation.
Theoretical basis of the present invention is: twice independent rotation that an axle in the normal axis on this plane and plane all can be passed through in any orientation that plane (for example spherical shell among the present invention " equatorial plane ") desired to put realizes (proof slightly); And the residing orientation, butt joint plane (being parallel to spherical shell " equatorial plane ") of passage can be determined by the observed reading of several distance measuring sensors of suitable layout after each independent rotation.The general principle of formulating control policy in view of the above is: because accident ship escape hatch size is limited, for making distance measuring sensor obtain observed reading, it is prerequisite that " leveling " work should be docked plane " centering " with accident ship passage with life boat---this is not difficult to accomplish for the life boat that four-degree-of-freedom dynamic positioning function of the present invention is housed; Again because " leveling " process can influence " centering ", thus in control program, should intersect detection " centering " and " leveling " sensor observed reading and manage to reset to control " target "; In case two kinds of observed readings all meet the demands, get final product " seat platform ", finish butt joint.
Single spherical shell butt joint skirt comprises spherical apron, minor axis, spherical apron drive motor, spherical skirt, high pressure water joint, spherical apron seated connection pipe, side seal rolling bearing, bevel gear pair and skirt drive motor.Wherein, spherical apron is the spherical shell that both sides have symmetrical butt, and the axis that is packed in two minor axises of its outside face overlaps with the diameter of crossing the centre of sphere and is parallel to plane of the section (being the minor axis axis overlaps with " equatorial plane " of spherical apron interior diameter); Spherical skirt is the short cylindrical cylindrical shell of a two end plates perforate, the inner edge in hole installs movable sealing structure additional, the spherical apron of band minor axis is loaded in it, and freely rotate by the bearing on described two minor axises and the spherical skirt, and the propulsion source that rotates is the spherical apron drive motor that is fixed on the spherical skirt barrel outside and links to each other with a minor axis by end flange; The described section place that is used for docking a side with the accident ship installs a taper seat ring additional.The structure design of realizing dynamic seal between spherical apron and spherical skirt can be used for reference prior art, and on spherical skirt, install the high pressure water joint additional, so that by high-pressure hydraulic pump suitable high pressure water of injection pressure in spherical skirt, in order to the extraneous sea water static pressure power of balance, and then prevent that the molecule in the seawater from entering between the slide relative face.The dynamic seal body that the side seal rolling bearing is made up of the end flange of the end flange of spherical apron seated connection pipe and life boat rescue hatch bustle pipe.The other end of spherical apron seated connection pipe and spherical skirt coaxial line are connected, and the bull gear that is sleeved in the bevel gear pair on the spherical apron seated connection pipe is fixed on the inner end surface of spherical skirt; So the skirt drive motor of the band retarder that is connected with life boat hatch bustle pipe can drive spherical skirt by the bevel pinion in the bevel gear pair together with spherical apron (with the vertical axle of life boat and the normal axis of the life boat spherical apron " equatorial plane " before rotating parallel) rotation around the axis of life boat rescue hatch bustle pipe.
Side seal rolling bearing available combination sealed rotational bearing among the present invention replaces.The latter will form dynamic radial seal behind spherical apron seated connection pipe and the life boat rescue hatch bustle pipe plug-in mounting, processes flange at the middle part of spherical apron seated connection pipe simultaneously, so that form the end face dynamic seal with life boat rescue hatch bustle pipe end flange.This combined sealed body can improve sealing effectiveness.
Fairly obvious, two physics rotating shafts of single spherical shell butt joint skirt are respectively the axis of life boat rescue hatch bustle pipe and the axis of described two minor axises; And related " plane " is exactly " equatorial plane " of spherical apron in the theoretical basis of the present invention.
Description of drawings
Fig. 1 adopts the single spherical shell butt joint skirt structural representation of side seal
Fig. 2 adopts the single spherical shell butt joint skirt structural representation of combination sealing
The specific embodiment
Provide preferred implementation of the present invention below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, single spherical shell butt joint skirt comprises spherical apron 11, spherical apron drive motor 12, minor axis 13, spherical skirt 21, high pressure water joint 26, spherical apron seated connection pipe 22, side seal rolling bearing 23, bevel gear secondary 25 and skirt drive motor 24.Wherein, spherical apron 11 is spherical shells that both sides have symmetrical butt, and a diameter that is packed in axis and the spherical apron 11 " equatorial plane " of two minor axises 13 of its outside face overlaps, and parallel with section; Spherical skirt 21 is short cylindrical cylindrical shells of a two end plates perforate, the inner edge in hole installs movable sealing structure additional, the spherical apron 11 of band minor axis 13 is loaded in it, and freely rotate by the bearing on two minor axises 13 and the spherical skirt 21, and the propulsion source that rotates is the spherical apron drive motor 12 that is fixed on spherical skirt 21 outsides and links to each other with a minor axis 13 by end flange; The section place that is used for docking a side with the accident ship installs a taper seat ring additional.On spherical skirt 21, install high pressure water joint 26 additional, so that by high-pressure hydraulic pump (not drawing among the figure) suitable high pressure water of injection pressure in spherical skirt 21, in order to the extraneous sea water static pressure power of balance, and then prevent that the molecule in the seawater from entering between the slide relative face.The dynamic seal body that side seal rolling bearing 23 is made of jointly the end flange of spherical apron seated connection pipe 22 end flange and life boat rescue hatch bustle pipe 01 (among the figure drawn only be scheme drawing).The other end of spherical apron seated connection pipe 22 and spherical skirt 21 coaxial lines are connected, and the bull gear that is sleeved in the bevel gear pair 25 on the spherical apron seated connection pipe 22 is fixed on the inner end surface of spherical skirt 21; So, can drive spherical skirt 21 by the bevel pinion in the bevel gear pair 25 together with spherical apron 11 (with the vertical axle of life boat 00 and the normal axis of " equatorial plane " of the spherical apron 11 before rotating parallel) rotation around the axis of the rescue hatch bustle pipe 01 of life boat 00 with skirt drive motor 24 that life boat hatch bustle pipe 01 is connected.
As shown in Figure 2, in the present invention, the side seal rolling bearing 23 that can use combination sealing rolling bearing 23 to replace among Fig. 1.The former will form dynamic radial seal behind spherical apron seated connection pipe 22 and life boat rescue hatch bustle pipe 01 plug-in mounting, processes flange at the middle part of spherical apron seated connection pipe 22 simultaneously, so that form the end face dynamic seal with life boat rescue hatch bustle pipe 01 end flange.Undoubtedly, this combined sealed body (among the figure drawn only be scheme drawing) can improve sealing effectiveness.
The concrete structure of two kinds of sealed rotational bearings can design according to mentioned typical patented technology US4549753 " swivel " and US4903941 " isobaric swivel " in existing dynamic seal theory and the U.S. Pat 5755532 " Articulating pressure conduit (activity pressure passage) ".
The beneficial effect that this single spherical shell butt joint opotism is installed is: the adjustment in direction on passage butt joint plane is to realize in twice independent rotation of two orthogonal axes.So, even if having the life boat of four-degree-of-freedom dynamic positioning function, the present invention has been installed after, also can in docking operation, have six degree of freedom dynamic positioning life boat to connection function.And the four-degree-of-freedom dynamic positioning technology of life boat is than six degree of freedom dynamic positioning technology maturation, much simple; " part " adjustment in direction on passage butt joint plane also is easy to realize, because the adjustment in direction on passage butt joint plane is realized the automatic guidance of the docking operation that is highly advantageous in twice independent rotation.
Use the present invention can greatly reduce the quantity of deep submersible rescue vehicle required drive fixing aid and the control difficulty of passage butt joint.
Claims (3)
1. a single spherical shell docks skirt, and it is characterized in that: it comprises spherical apron (11), minor axis (13), spherical apron drive motor (12), spherical skirt (21), high pressure water joint (26), spherical apron seated connection pipe (22), side seal rolling bearing (23), bevel gear pair (25) and skirt drive motor (24); Wherein, spherical apron (11) is the spherical shell of a two-sided symmetrical butt; The diameter that the axis that is packed in two minor axises (13) of its outside face is crossed spherical apron (11) centre of sphere with one and is parallel to plane of the section overlaps; Spherical skirt (21) is the short cylindrical cylindrical shell of perforate on the two end plates, and the inner edge in hole installs movable sealing structure additional, and the spherical apron (11) of band minor axis (13) is loaded in it, and freely rotates by the bearing on described two minor axises (13) and the spherical skirt (21); The spherical apron drive motor (12) that is connected with life boat hatch bustle pipe (01) is fixed on spherical skirt (21) outside by end flange and is connected with a minor axis (13) wherein; Spherical skirt (21) is solidly fixed with spherical apron seated connection pipe (22) coaxial line ground, and can be around the axis rotation of the rescue hatch bustle pipe (01) of life boat (00); The bull gear that is sleeved in the bevel gear pair (25) on the spherical apron seated connection pipe (22) is fixed on the inner end surface of spherical skirt (21); The spindle nose of the skirt drive motor (24) of band retarder and the bevel pinion in the bevel gear pair (25) are connected; On the spherical skirt (21) high pressure water joint (26) is housed.
2. single spherical shell butt joint skirt as claimed in claim 1 is characterized in that: side seal rolling bearing (23) is by the end flange of spherical apron seated connection pipe (22) and the common dynamic seal body of forming of end flange of life boat rescue hatch bustle pipe (01).
3. a single spherical shell docks skirt, and it is characterized in that: it comprises spherical apron (11), minor axis (13), spherical apron drive motor (12), spherical skirt (21), high pressure water joint (26), spherical apron seated connection pipe (22), combination sealing rolling bearing (23), bevel gear pair (25) and skirt drive motor (24); Wherein, spherical apron (11) is the spherical shell of a two-sided symmetrical butt; The diameter that the axis that is packed in two minor axises (13) of its outside face is crossed spherical apron (11) centre of sphere with one and is parallel to plane of the section overlaps; Spherical skirt (21) is the short cylindrical cylindrical shell of perforate on the two end plates, and the inner edge in hole installs movable sealing structure additional, and the spherical apron (11) of band minor axis (13) is loaded in it, and freely rotates by the bearing on described two minor axises (13) and the spherical skirt (21); The spherical apron drive motor (12) that is connected with life boat hatch bustle pipe (01) is fixed on spherical skirt (21) outside by end flange and is connected with a minor axis (13) wherein; Spherical skirt (21) is solidly fixed with spherical apron seated connection pipe (22) coaxial line ground, and can be around the axis rotation of the rescue hatch bustle pipe (01) of life boat (00); The bull gear that is sleeved in the bevel gear pair (25) on the spherical apron seated connection pipe (22) is fixed on the inner end surface of spherical skirt (21); The spindle nose of the skirt drive motor (24) of band retarder and the bevel pinion in the bevel gear pair (25) are connected; On the spherical skirt (21) high pressure water joint (26) is housed; Combination sealing rolling bearing (23) is to form dynamic radial seal behind spherical apron seated connection pipe (22) and life boat rescue hatch bustle pipe (01) plug-in mounting, simultaneously process flange, so that form the end face dynamic seal with life boat rescue hatch bustle pipe (01) end flange at the middle part of spherical apron seated connection pipe (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101511688A CN100482534C (en) | 2006-12-20 | 2006-12-20 | Single spherical shell docking apron |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101511688A CN100482534C (en) | 2006-12-20 | 2006-12-20 | Single spherical shell docking apron |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1986328A CN1986328A (en) | 2007-06-27 |
| CN100482534C true CN100482534C (en) | 2009-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101511688A Expired - Fee Related CN100482534C (en) | 2006-12-20 | 2006-12-20 | Single spherical shell docking apron |
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| CN (1) | CN100482534C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101403472B (en) * | 2008-02-20 | 2011-12-28 | 王运章 | Method and apparatus for considerable extraction of deep sea water, and apparatus installation method |
| CN101871779B (en) * | 2010-04-30 | 2012-07-18 | 中国船舶重工集团公司第七〇二研究所 | Locator for inner surface and outer surface of spherical shell |
| CN106641525A (en) * | 2016-11-27 | 2017-05-10 | 无锡金顶石油管材配件制造有限公司 | Free rotation type pipe joint |
| CN107651145A (en) * | 2017-09-25 | 2018-02-02 | 李宏江 | Deep sea submarine and the connection valve of submarine rescue supply |
| CN108528669B (en) * | 2018-04-09 | 2019-12-13 | 韩先锋 | Passenger dry transfer device for butt joint of deep submersible vehicle and submarine |
| RU191751U1 (en) * | 2019-03-05 | 2019-08-21 | Анатолий Петрович Черных | SUBMISSION SHOWING SYSTEM USING A ROTARY HOLLOW BALL |
| CN114044114B (en) * | 2021-10-18 | 2024-05-28 | 中国舰船研究设计中心 | Supporting component for rotation of spherical cabin of submersible |
-
2006
- 2006-12-20 CN CNB2006101511688A patent/CN100482534C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1986328A (en) | 2007-06-27 |
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Granted publication date: 20090429 Termination date: 20111220 |