CN101941512A - Underwater positioning and conveying system using strongly magnetic plugging tool - Google Patents
Underwater positioning and conveying system using strongly magnetic plugging tool Download PDFInfo
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- CN101941512A CN101941512A CN2010102886362A CN201010288636A CN101941512A CN 101941512 A CN101941512 A CN 101941512A CN 2010102886362 A CN2010102886362 A CN 2010102886362A CN 201010288636 A CN201010288636 A CN 201010288636A CN 101941512 A CN101941512 A CN 101941512A
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- underwater camera
- wheel
- servo
- travel mechanism
- vehicle frame
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Abstract
The invention discloses an underwater positioning and conveying system using a strongly magnetic plugging tool. The system comprises a wheeled movement mechanism, an underwater camera and an upper computer control system, wherein the wheeled movement mechanism comprises a frame, and a front universal wheel, a middle drive wheel and a back universal wheel which are fixed on the frame; the middle drive wheel is driven by an alternating-current servomotor arranged on a servo-driven control unit; the underwater camera is fixed in the center of the frame; and the upper computer control system is connected with the underwater camera and the servo-driven control unit through an umbilical cord. The system of the invention utilizes the strong magnetism of the plugging tool to firmly adsorb a conveying mechanism on the surface of the ship body so that the conveying mechanism can run more steadily and the mechanism has simpler structure and is convenient to operate.
Description
Technical field
The present invention relates to emergency repair leak stopping product scope, more particularly, is when being used for naval vessel hull discovery leak, in time strong magnetic repair outfit accurately is transported to fast the cover location delivery system that leak source is implemented shutoff.
Technical background
The hull on naval vessel is being collided, or chemical corrosion, or the fight gunbattle, hole may occur, causes bilging, can cause shipwreck when serious, at this moment must be at a gallop, and most effectual way is blocked hole.Usually blocking method is multifarious, numerous.High Voltage magnetic repair outfit has been arranged now, can effectively will be not more than the leak success shutoff of φ 300mm fast.How High Voltage magnetic repair outfit is delivered to the hole position so aboard ship, particularly at the following position of floating line? for addressing this problem, need a cover to locate delivery system under water especially.
Summary of the invention
Technical matters to be solved by this invention is that an a kind of cover location delivery system of accurately transporting strong magnetic repair outfit fast is provided.
The present invention is strong, and the magnetic repair outfit is located delivery system under water, comprise wheeled travel mechanism, underwater camera head and upper computer control system, described wheeled travel mechanism is made up of vehicle frame and the preceding cardan wheel that is fixed in vehicle frame, middle part drive wheel and back cardan wheel, the middle part drive wheel is driven by the AC servomotor that the servo-drive control unit is installed, described vehicle frame center fixation underwater camera head, described upper computer control system adopt umbilical cable to be connected with the servo-drive control unit with the underwater camera head.
System of the present invention utilizes the ferromagnetism of repair outfit self, and conveyer is adsorbed on hull surface firmly, thereby makes operation more steady, makes this mechanism structure simpler like this, is convenient to operation.
The present invention utilizes two AC servomotor and the servo-drive control unit that is complementary with it control middle part drive wheel, and this motor has full-closed structure, have reliability height, system's rapidity good, with advantages such as weight and volume under the power are all less.Native system adopts speed control method, and servo-driver is accepted the analog rate voltage signal of control system and controlled rotating speed of motor, thereby utilizes the running velocity and the service direction of the definite native system of velocity contrast of both sides motor.
Description of drawings
Fig. 1 is the scheme drawing that wheeled travel mechanism invests hull;
Fig. 2 is a wheeled travel mechanism birds-eye view;
Fig. 3 is a wheeled travel mechanism motion scheme drawing;
Fig. 4 is the force analysis figure when being in pitching of wheeled travel mechanism.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
As depicted in figs. 1 and 2, comprise wheeled travel mechanism, underwater camera head and upper computer control system, wheeled travel mechanism is adsorbed on the hull 5, described wheeled travel mechanism is made up of vehicle frame 4 and the preceding cardan wheel 1 that is fixed in vehicle frame, middle part drive wheel 2 and back cardan wheel 3, the middle part drive wheel is driven by the AC servomotor 6 that the servo-drive control unit is installed, described vehicle frame center fixation underwater camera head 7, described upper computer control system adopt umbilical cable to be connected with the servo-drive control unit with the underwater camera head.During straight-line travelling, the rotating speed of two AC servomotor equates; About when turning, realize by the speed discrepancy of two AC servomotor.Each wheel adopts damping spring with connecting of car body, can absorb energy on the one hand, can reach the profiling of submissive ground on the one hand when running into obstacle in addition, guarantees that each wheel contacts all the time reliably with wall.
The underwater camera head can guide wheeled travel mechanism to arrive accurate position, finds damaged hole accurately by the underwater camera head, thus by wheeled travel mechanism with repair outfit promptly and accurately deliver to assigned address.
The upper computer control system computer monitoring adopts umbilical cable to provide power supply and conduction control signal for conveyer under water, thus the better controlled walking of wheeled travel mechanism under water.
Below the principle of the invention is sketched:
The foundation of kinematics model: during wheeled travel mechanism straight-line travelling, 2 drive wheel speed that the middle part is provided with equate, full speed ahead; When turning about wheeled travel mechanism, realize turning by the velocity contrast of 2 drive wheels, instantaneous center of gyration is on the line of 2 driving wheel axis, and radius of turn depends primarily on the speed extent of 2 drive wheels.Velocity contrast is big, and radius of turn is little; Velocity contrast is little, and radius of turn is big; Velocity contrast equals zero, and radius of turn tends to infinite distant place.Wheeled travel mechanism motion scheme drawing is shown in Fig. 3.
The foundation of mechanical model: according to one's analysis, come off on the hull surface position of possibility maximum of wheeled travel mechanism is a pitch position.For this reason, with this position mechanism of wheeled travel mechanism is carried out force analysis here, shown in Fig. 4.If mechanism is in uniform movement (or static) state, mechanism is subjected to buoyancy F1, magnetic adsorbability F2, gravity G and the hull of the seawater pressure N to mechanism in the vertical walls direction; Mechanism is subjected to the resistance F4 and the friction force F3 of seawater in the parallel wall surface direction; Mechanism is activated moment M1 and rolling frictional resistance Mr.Can determine that thus wheeled travel mechanism reaches required on land minimum magnetic attraction and drive torque in seawater.
The magnetic adsorbability contrast experiment:
Because the working environment of magnet-wheel travel mechanism is the seawater medium, so the design of magnet-wheel adsorption affinity will be considered the influence of seawater, be following contrast experiment: in air and aqueous medium for this reason, done 10 adsorption affinity tests respectively. experimental apparatus is as follows: one of tubular force indicator (KL250 type), one of the magnet (N35) of rubber encapsulation, one of tank. observed data sees Table shown in 1.
Result of a measurement is as follows:
The adsorption affinity that table 1 magnet produces in empty G﹠W
| Number of times | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | Aviation value |
| Air | 200 | 215 | 190 | 218 | 190 | 215 | 190 | 200 | 215 | 212 | 204.5 |
| Seawater | 190 | 200 | 210 | 208 | 200 | 208 | 206 | 210 | 200 | 209 | 204.1 |
From result of a measurement as can be seen, the magnetic force that magnet produces in air and aqueous medium is approximately equal, this is because the relative magnetic permeability of empty G﹠W is more approaching, be approximately 1, can think that the calculating of the magnetic adsorbability in the seawater medium is suitable for the air dielectric environment. the rest may be inferred, this travel mechanism not only is suitable for the lip-deep motion of underwater hull as can be known, also is suitable for the lip-deep motion of overwater boat body.
Claims (2)
1. one kind strong magnetic repair outfit is located delivery system under water, it is characterized in that, comprise wheeled travel mechanism, underwater camera head and upper computer control system, described wheeled travel mechanism is made up of vehicle frame and the preceding cardan wheel that is fixed in vehicle frame, middle part drive wheel and back cardan wheel, the middle part drive wheel is driven by the AC servomotor that the servo-drive control unit is installed, described vehicle frame center fixation underwater camera head, described upper computer control system adopt umbilical cable to be connected with the servo-drive control unit with the underwater camera head.
2. strong magnetic repair outfit according to claim 1 is located delivery system under water, it is characterized in that, described preceding cardan wheel, middle part drive wheel and back cardan wheel adopt damping spring with connecting of vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102886362A CN101941512A (en) | 2010-08-19 | 2010-08-19 | Underwater positioning and conveying system using strongly magnetic plugging tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102886362A CN101941512A (en) | 2010-08-19 | 2010-08-19 | Underwater positioning and conveying system using strongly magnetic plugging tool |
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| Publication Number | Publication Date |
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| CN101941512A true CN101941512A (en) | 2011-01-12 |
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| CN2010102886362A Pending CN101941512A (en) | 2010-08-19 | 2010-08-19 | Underwater positioning and conveying system using strongly magnetic plugging tool |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102336255A (en) * | 2011-06-27 | 2012-02-01 | 大连海事大学 | Mechanical placer of ship track type quick plugging plate |
| CN102336258A (en) * | 2011-06-27 | 2012-02-01 | 大连海事大学 | Robot placer of ship track type quick plugging plate |
| CN102343972A (en) * | 2011-06-27 | 2012-02-08 | 大连海事大学 | Handheld dispenser for caterpillar type rapid plugging plates for ships |
| CN103350744A (en) * | 2013-04-24 | 2013-10-16 | 朱志强 | Emergency automatic plugging equipment for underwater vessel housing |
| CN104787263A (en) * | 2015-04-24 | 2015-07-22 | 柳州煜华科技有限公司 | Magnetic sealing tape |
| CN108695007A (en) * | 2018-05-22 | 2018-10-23 | 广东核电合营有限公司 | The device for plugging and its blocking method of million kilowatt nuclear power factory Spent Fuel Pool |
| CN110194253A (en) * | 2019-04-09 | 2019-09-03 | 武汉理工大学 | A kind of Sea Chest underwater leak stopping robot |
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| FR2861457A1 (en) * | 2003-10-28 | 2005-04-29 | Marc Serge Brussieux | Device for non-destructive testing of structures, particularly ship hulls, using number of non-destructive testing detectors and mobile robot to carry them |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102336255A (en) * | 2011-06-27 | 2012-02-01 | 大连海事大学 | Mechanical placer of ship track type quick plugging plate |
| CN102336258A (en) * | 2011-06-27 | 2012-02-01 | 大连海事大学 | Robot placer of ship track type quick plugging plate |
| CN102343972A (en) * | 2011-06-27 | 2012-02-08 | 大连海事大学 | Handheld dispenser for caterpillar type rapid plugging plates for ships |
| CN102336258B (en) * | 2011-06-27 | 2014-08-13 | 大连海事大学 | Robot placer of ship track type quick plugging plate |
| CN102336255B (en) * | 2011-06-27 | 2014-08-13 | 大连海事大学 | Mechanical placer of ship track type quick plugging plate |
| CN102343972B (en) * | 2011-06-27 | 2014-08-13 | 大连海事大学 | Handheld dispenser for caterpillar type rapid plugging plates for ships |
| CN103350744A (en) * | 2013-04-24 | 2013-10-16 | 朱志强 | Emergency automatic plugging equipment for underwater vessel housing |
| CN103350744B (en) * | 2013-04-24 | 2018-07-13 | 佛山市南海黄岐造船厂有限公司 | The emergent automatic leakage-blocking equipment of underwater naval vessel shell |
| CN104787263A (en) * | 2015-04-24 | 2015-07-22 | 柳州煜华科技有限公司 | Magnetic sealing tape |
| CN108695007A (en) * | 2018-05-22 | 2018-10-23 | 广东核电合营有限公司 | The device for plugging and its blocking method of million kilowatt nuclear power factory Spent Fuel Pool |
| CN110194253A (en) * | 2019-04-09 | 2019-09-03 | 武汉理工大学 | A kind of Sea Chest underwater leak stopping robot |
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Application publication date: 20110112 |