CN107719609B - A kind of bathysphere for formula emergency self-saving of escaping unnoticed - Google Patents
A kind of bathysphere for formula emergency self-saving of escaping unnoticed Download PDFInfo
- Publication number
- CN107719609B CN107719609B CN201710950930.7A CN201710950930A CN107719609B CN 107719609 B CN107719609 B CN 107719609B CN 201710950930 A CN201710950930 A CN 201710950930A CN 107719609 B CN107719609 B CN 107719609B
- Authority
- CN
- China
- Prior art keywords
- spherical shell
- seperated
- saving
- bathysphere
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Bathtub Accessories (AREA)
Abstract
The invention discloses a kind of bathyspheres of formula emergency self-saving of escaping unnoticed, it include: outer spherical shell (1), interior spherical shell (3) and main control module, the interior spherical shell (3) are movably disposed in the outer spherical shell (1), and the main control module is set in the interior spherical shell (3)；It is characterized by: the outer spherical shell (1) is divided at least two seperated (1.1), it is connected between two neighboring seperated (1.1) by several connectors, the connector is all made of blasting bolt (4) or the combination using blasting bolt (4) and hinge (5)；The blasting bolt (4) is ignited that seperated (1.1) is made can be mutually unfolded or separate to discharge the interior spherical shell (3) by main control module excitation.The invention has the benefit that outer spherical shell disintegration can be enabled to automatically disengage interior spherical shell.
Description
Technical field
The invention belongs to submersible technical fields, and in particular to a kind of bathysphere for formula emergency self-saving of escaping unnoticed.
Background technique
Submersible as human development utilize ocean one of technical way, it has also become ocean new and high technology it is important
Forward position.A large amount of submersibles emerge in large numbers in succession, including manned underwater vehicle (HOV), the unmanned submersible (ROV) for having cable to be remotely controlled and untethered
Autonomous unmanned submersible (AUV) etc..These submersibles such as AUV at most awaits orders near Sea Bottom cruise or seat bottom, can not be in sea bed
Upper freedom is motor-driven, and the umbilical cables water surface can be needed to power in seabed operation such as crawler type ROV.Based on this, the application of the application
People is being " a kind of to roll into mixing of swimming based on built-in driving principle application No. is " 201710037213.5 ", patent name
Formula is dwelt submersible more " patent of invention in propose a kind of spherical submersibles of dwelling more, which includes: outer spherical shell, promotes dress
It sets, interior spherical shell, roll power device, buoyancy regulating device and transfer, generate eccentric moment reality by rolling power device
The function that existing seabed rolls realizes the function of drifting along in water by buoyancy regulating device, is realized in water and swum by propulsion device
Function.The submersible extends the mobility and range from water to seabed, in Marine Sciences investigation and seabed army
Thing application field has wide application prospect.In view of the exceedingly odious condition of underwater complex, there is contingency submersible in sea
The case where bottom can not integrally get rid of poverty, how to guarantee at this time submersible can reliable recovery, especially in core apparatus in spherical shell,
The recycling of critical data will be one of key technology that such submersible can adapt to working environment under different condition completely.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, a kind of spherical shape of formula emergency self-saving of escaping unnoticed is provided
Submersible can enable outer spherical shell disintegrate, automatically disengage interior spherical shell, and float to the water surface by natural buoyancy, guarantee that interior ball is made
For the safe retrieving of submersible key device and core data.
To solve prior art problem, the invention discloses a kind of bathysphere of formula emergency self-saving of escaping unnoticed, packets
Include: outer spherical shell, interior spherical shell and main control module, interior spherical shell are movably disposed in outer spherical shell, and main control module is set to interior spherical shell
In；Outer spherical shell is divided at least two fissions, is connected between two neighboring fission by several connectors, connector is all made of explosion
Bolt or the combination for using blasting bolt and hinge；Blasting bolt by main control module excitation is ignited that fission is enable mutually to open up
It opens or separates to discharge interior spherical shell.
Further, outer spherical shell is divided into two fissions, and fission is hemispherical, joint face of the fission with circular ring shape, connection
Part is uniformly distributed along the circumferential direction of joint face.
Further, outer spherical shell is divided into three fissions, the opening that there are two one of seperated tools enters and leaves for interior spherical shell,
Two fissions of remaininging can be respectively arranged at open-mouth.
Further, it is set to the fission structure having the same of open-mouth and is symmetrical arranged.
Further, outer spherical shell is divided into six fissions, wherein four fissions circumferentially can join end to end to be formed with two
The cyclic structure body of a opening, other two fission can be respectively arranged at open-mouth.
Further, it is set to the fission structure having the same of open-mouth and is symmetrical arranged.
It further, further include support frame, support frame is set in outer spherical shell；Support frame is divided into two and half round frames, and two
Half round frame is connected by connector so that interior spherical shell can be actively set in outer spherical shell, connector be all made of blasting bolt or
Using the combination of blasting bolt and hinge；Blasting bolt is ignited to enable two and half connected round frames by main control module excitation
Mutually expansion or separation is to discharge interior spherical shell.
Further, seperated joint face is additionally provided with positioning protrusion and location hole, interior spherical shell be divided into hemispherical upper casing and
The connecting end surface of hemispherical lower casing, hemispherical upper casing and hemispherical lower casing is provided with sealing flange, and sealing flange is provided with one
Sealing ring is arranged in seal groove in the seal groove of ring shape.
Further, preloading spring is provided between fission so that blasting bolt explosion time mutually flicks fission.
Further, it is seperated be provided with preloading spring between interior spherical shell so that blasting bolt explosion time by seperated with interior ball
Shell phase mutually flicks.
The invention has the benefit that outer spherical shell disintegration can be enabled to automatically disengage interior spherical shell.
Detailed description of the invention
Fig. 1 is structural schematic diagram of first preferred embodiment China and foreign countries spherical shell under fit state；
Fig. 2 is partial cutaway view of the embodiment illustrated in fig. 1 China and foreign countries spherical shell under fit state；
Fig. 3 is structural schematic diagram of the embodiment illustrated in fig. 1 China and foreign countries spherical shell under disintegration state；
Fig. 4 is structural schematic diagram of second preferred embodiment China and foreign countries spherical shell under fit state；
Fig. 5 is structural schematic diagram of the embodiment illustrated in fig. 4 China and foreign countries spherical shell under disintegration state；
Fig. 6 is structural schematic diagram of the third preferred embodiment China and foreign countries' spherical shell under fit state；
Fig. 7 is structural schematic diagram of the embodiment illustrated in fig. 6 China and foreign countries spherical shell under disintegration state；
Fig. 8 is the structural schematic diagram of the sealing flange of interior spherical shell in embodiment illustrated in fig. 1；
Fig. 9 is partial enlarged view at B-B in Fig. 8；
Figure 10 is the flow chart of Emergency decision mechanism in the present invention；
Figure 11 is the fault diagnosis and Emergency decision flow chart of fault tree in the present invention；
Figure 12 is Decision System of Emergency schematic diagram in the present invention；
Figure 13 is the structural schematic diagram of buoyancy regulating device of the present invention；
Figure 14 is the structural schematic diagram of emergency self-saving device of the present invention.
Appended drawing reference:
1 outer spherical shell；1.1 seperated；1.1.1 joint face；1.1.2 open；1.1.3 interconnecting piece；1.1.4 positioning protrusion；1.1.5
Recessed portion；It is seperated before 1.2；1.2.1 plug；It is seperated after 1.3；1.3.1 plug；1.4 left fissions；1.5 right fissions；It is seperated on 1.6；
1.6.1 slot；1.6.2 slot；1.7 lower fissions；2 support frames；Spherical shell in 3；3.1 sealing ring；4 blasting bolts；5 hinges；6 water
Cabin；7 control modules；8 pump valve group assemblies；9 first sequence valves；10 first check valves；11 second sequence valves；12 second is unidirectional
Valve；13 pumps；14 baroceptors, 15 pressure gauges；16 temperature sensors；17 gas cylinders；18 first solenoid valves；19 second electromagnetism
Valve；20 safety valves；21 shut-off valves；22 gas-charging connections；23 filters.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
The submersible recorded in the present invention can be the submersible of any double type structure, and it is more to be particularly suitable for a kind of spherical shape
Dwell submersible, which dwells the specific configuration of submersible more and the course of work be recorded in application No. is " 2017100372135 ",
In a kind of disclosure of the patent of invention of entitled " rolling into based on built-in driving principle swim hybrid submersible of dwelling " more,
The structure and disintegration mode of China and foreign countries' spherical shell of the present invention is described in detail in submersible of more dwelling below in conjunction with the spherical shape.
Embodiment one
As shown in Figures 1 to 3, a kind of bathysphere for formula emergency self-saving of escaping unnoticed, comprising: outer spherical shell 1, support frame 2,
Interior spherical shell 3 and main control module, support frame 2 are set in outer spherical shell 1, and interior spherical shell 3 is movably disposed in outer spherical shell 1, master control
Module is set in interior spherical shell 3；Outer spherical shell 1 is divided to for two hemispherical fissions 1.1, if between two neighboring seperated 1.1 by
Involvement fitting is connected so as to accommodate interior spherical shell 3 and support frame 2.Joint face 1.1.1 of the fission 1.1 with circular ring shape, connection
Part is uniformly distributed along the circumferential direction of joint face 1.1.1.Support frame 2 is divided to for two and half round frames, and two and half round frames are connected by connector
With spherical shell 3 in movable supporting in outer spherical shell 1.Connector is all made of blasting bolt 4, and blasting bolt 4 is drawn by main control module excitation
It is quick-fried to enable fission 1.1 and half round frame be separated from each other with discharge in spherical shell 3.Outer spherical shell 1 and the explosion of support frame 2 are disintegrated
Afterwards, interior spherical shell 3 and its interior arrangement float on the water surface by natural buoyancy, consequently facilitating critical component timely and reliably returns
It receives.
Connector, can also be in such a way that blasting bolt 4 be combined with hinge 5 in addition to using aforesaid way, i.e., and two points
It is formed hingedly between body 1.1 by a hinge 5, then two fissions 1.1 is connected by several blasting bolts 4, similarly,
One end of half round frame is formed hingedly by a hinge 5, and the other end is connected by blasting bolt 4.4 explosion time of blasting bolt, point
Body 1.1 and half round frame are unfolded that interior spherical shell 3 is enabled to float using respective hinge joint as center of rotation outward.This mode
Under, fission 1.1 and half round frame still keep connection without disintegrating into individual part to a certain extent.
After making blasting bolt 4 explode, fission 1.1 quickly can separate or be unfolded, between two fissions 1.1 or
Preloading spring is provided between fission 1.1 and interior spherical shell 3, after fission 1.1 is connected to form complete outer spherical shell 1, preloading spring
It bears pressure and there is elastic potential energy, after blasting bolt 4 explodes, the elastic potential energy of preloading spring is released fission 1.1
It flicks to make interior spherical shell 3 float to form sufficiently large notch.
In order to guarantee that interior spherical shell is reliable and release completely, outer spherical shell must be permeable.And outer spherical shell is when seabed is rolled into, it is permeable
Place has sea bed material and pours into, and influences system performance.Therefore, the present invention designs at permeable place in outer spherical shell two sides, i.e., outer spherical shell
With the junction of mounting portion (at installation propulsion device and observation window).The position is not direct when rolling into be contacted with sea bed.Interior ball
Shell is divided into hemispherical upper casing and hemispherical lower casing, and the connecting end surface of hemispherical upper casing and hemispherical lower casing is provided with Sealing Method
Orchid, sealing flange are provided with the seal groove of a ring shape, sealing ring 3.1 are arranged in seal groove.
Embodiment two
As described in Figure 4 and 5, the difference is that, in the present embodiment, outer spherical shell 1 divides for three fissions with embodiment one
1.1, one of 1.1 tool of fission is there are two the open 1.1.2 entered and left for interior spherical shell 3, and the fission 1.1 is on a circumferencial direction
It circularizes, at being symmetrical arranged, other two fission and can be symmetrical arranged 1.1 structures having the same two opening 1.1.2
To form complete outer spherical shell 1 at open 1.1.2.
Symmetrical interconnecting piece 1.1.3 there are two tools is set on the joint face 1.1.1 of the fission 1.1 at open 1.1.2,
In interconnecting piece 1.1.3 pass through position connection corresponding on blasting bolt 4 and seperated the 1.1 of annular, another interconnecting piece
1.1.3 by another place position connection corresponding on hinge 5 and seperated the 1.1 of annular to form complete outer spherical shell 1.Point
The joint face 1.1.1 of body 1.1 is additionally provided with positioning protrusion 1.1.4 and location hole, can play when fission 1.1 connects good
Positioning action.
It is also possible to two interconnecting piece 1.1.3 and passes through corresponding position on blasting bolt 4 and seperated the 1.1 of annular
Connection.
When submersible is stranded, first carrying out pose adjustment makes open 1.1.2 be in vertical state as far as possible, and explode spiral shell at this time
The explosion of bolt 4 is destroyed the connection of two fissions 1.1 being connected, so that open 1.1.2 is made to be in completely open state, this
When interior spherical shell 3 pass through opening 1.1.2 and float on the water surface.
Embodiment three
As described in figs. 6 and 7, with embodiment one the difference is that, in the present embodiment, outer spherical shell 1 divides for six fissions
1.1, the connection relationship between six fissions 1.1 for ease of description, therefore by six nouns of locality in front and back up and down to fission
Positional relationship between 1.1 is distinguished, but is not the restriction to fission 1.1.Preceding seperated 1.2, left seperated 1.4, rear fission
1.3 and rear fission 1.3 can circumferentially join end to end the cyclic structure to be formed with an open top and a bottom opening
Body, upper seperated 1.6 can be set at open top, and lower seperated 1.7 can be set to bottom open-mouth.Upper seperated 1.6 under
Seperated 1.7 balling-up are coronal, lower seperated 1.7 by four hinges 5 respectively with preceding seperated 1.2, left seperated 1.4, rear fission 1.3 and after
Fission 1.3 connects, and upper seperated 1.6 are connected with left seperated 1.4 and right seperated 1.5 respectively by two hinges 5, passes through two and explodes
Bolt 4 is connected with preceding seperated 1.2 and rear fission 1.3 respectively.Preceding seperated 1.2, left seperated 1.4, rear fission 1.3 and rear fission 1.3
It is provided with positioning protrusion 1.1.4 on the joint face 1.1.1 of four fissions 1.1 and location hole realizes good positioning.Preceding seperated 1.2
Plug 1.2.1,1.3.1 are all had with rear seperated 1.3 top, seperated 1.6 two slot 1.6.1 can be inserted into respectively,
1.6.2 it in, is then fixedly connected again by blasting bolt 4.
When submersible is stranded, first carrying out pose adjustment makes seperated 1.6 states for being in top as far as possible, then excites quick-fried
Fried bolt 4 makes seperated 1.6 to be detached from following preceding seperated 1.2 and rear fission 1.3, under the action of preloading spring, Qi Tafen
Body 1.1 is opened to provide smooth spatial channel for the floating of interior spherical shell 3 in succession.
In the present invention, the middle part of blasting bolt 4 is filled with explosive, and both ends process screw thread for nut combination.Blasting bolt 4
Installation can be provided with the side for the recessed portion 1.1.5 being recessed inwardly using the position on fission 1.1 close to joint face 1.1.1
Formula, in order to which nut is installed to two ends to realize the connection of two fissions 1.1；It can also be by the interconnecting piece that outwardly protrudes
1.1.3 mode be directly connected to.
In order to realize the floating upward quickly of interior spherical shell, water tank 6, machine are set in the space between the outer spherical shell of submersible and interior spherical shell
Pump valve group assembly 8, filter 23, detection module and main control module 7.
Since the shape of the interior spherical shell of submersible is spherical and has a maritime mouth, the shape of water tank 6 is that section is
Circular annular shape hollow structure body, encloses around the equator one of interior spherical shell and fixes, water tank 6 is using high-intensitive corrosion resistant material system
At there is preferable pressure-resistant antiseptic property, improve underwater working life.
The number of pump valve group assembly 8 be two and be set in a manner of axial symmetry or central symmetry the two sides of interior spherical shell with
Achieve the purpose that save space, be easily installed and adjustment.Pump valve group assembly 8, which can be all turned on, also individually to be opened, often
A pump valve group assembly 8 includes the first sequence valve 5, the first check valve 10, the second sequence valve 11, second one-way valve 12 and pump
13.Sequentially couple filter 23, the first sequence valve 5, pump 13 and the second sequence valve 11 between maritime mouth and water tank 6；First is suitable
Sequence valve 5 and the second sequence valve 11 are oppositely arranged each other, and with this in water filling or draining, one of them is opened and another is closed.
The both ends that first check valve 10 is reversely connected in the first sequence valve 5 form the first balanced valve, and second one-way valve 12 is anti-
The second balanced valve is formed to the both ends for being connected in the second sequence valve 11.Pump 13 electrically connects main control module 7.When water filling, seawater according to
It is secondary to enter water tank 6 by the first check valve 10, pump 13 and the second sequence valve 11；Lead to one since the second sequence valve 11 is opened
Part seawater through its sluice it is salty into return to water filling water route in.When draining, seawater successively passes through second one-way valve 12,13 and of pump
Maritime mouth is discharged in first sequence valve 5；Cause a part of seawater salty into the row of returning to through its sluicing since the first sequence valve 5 is opened
In water water route.
In view of the pressure loss in the working depth and pipeline of submersible, design maximum output pressure be submersible most
1.25 times of big working depth pressure.At when the pressure difference of the control terminal of first sequence valve 5 and the second sequence valve 11 is more than 0.5 MPa
In open state.Filter 23 can effectively stop silt, rubbish, plankton in water body etc. to enter in pipeline, avoid shadow
Ring the normal operation of device.
Detection module includes temperature sensor 16 and baroceptor 14；The inspection of temperature sensor 16 and baroceptor 14
End is all set in water tank 6, its output end electrically connects main control module 7 for survey.Baroceptor 14 and temperature sensor 16 are distinguished
The pressure signal in water tank 6 and temperature signal that will test are sent to main control module 7.Due to the quality and water tank of submersible
6 volume is steady state value, therefore main control module 7 calculates air in water tank 6 according to the pressure and temperature signal detected
Volume goes out the volume of seawater to inverse, controls the operation of pump 13 accordingly to realize the accurate tune to buoyancy needed for submersible
Section.
In order to realize submersible in the event of a failure can emergency self-saving and on climbing up on top of the water automatically, submersible further includes gas
Source, the first solenoid valve 18 and second solenoid valve 19.
Gas source includes one or more gas cylinders 17 for being connected in series and filling high pressure gas.First solenoid valve 18 and the second electromagnetism
Valve 19 electrically connects main control module 7 respectively, and water tank 6 is connected to gas cylinder 17 by the first solenoid valve 18, is connected to by second solenoid valve 19
Maritime mouth.
In order to realize safe operation, submersible further includes safety valve 20, and safety valve 20 is connected in gas source and the first solenoid valve
In gas circuit between 18, the effect of safety valve is to prevent gas source internal pressure excessively high, can be vented outwards automatically more than setting pressure.
Submersible further includes shut-off valve 21, and shut-off valve 21 is connected in the gas circuit between gas source and the first solenoid valve 18.It cuts
Only the effect of valve is to maintain one-way flow of the gas source to water tank, prevents high pressure gas from flowing back.
Submersible further includes pressure gauge 15 and gas-charging connection 22；Pressure gauge 15 and gas-charging connection 22 are all set in going out for gas source
Position at mouthful or close to outlet.Gas cylinder 17 is reusable, when deflation, which finishes, to be needed to inflate, is connected by gas-charging connection 22
External air source is inflated, and pressure gauge 15 can observe in real time the blowing pressure and judge degree of inflation.
The decision-making mechanism of submersible seabed emergency self-saving are as follows: the extreme condition that submersible can not integrally get rid of poverty judge automatically according to
According to.As shown in Figure 10, bathysphere Emergency decision mechanism includes three fault detection, fault diagnosis and troubleshooting parts.
The working condition of comprehensive real-time detection submersible is the base for carrying out consequent malfunction diagnosis with executing Emergency decision movement
Plinth, submersible need the working condition that detects include communication system whether failure, submersible pose and depth state it is whether abnormal,
Whether the propulsion system and observation system of submersible are abnormal, whether equipment inside interior spheroid and ambient condition are abnormal etc..
As shown in figure 11, the working condition for the submersible that will test summarizes arrangement extremely and forms fault tree, and according to
The urgency level of failure formulates fault level table, is examined based on fault tree and fault type of the fault level table to submersible
It is disconnected.The Emergency decision movement for designing submersible, executes corresponding troubleshooting for different faults type and acts, until at failure
Reason finishes.
Submersible emergency self-saving control unit exchanges the various shapes of submersible with submersible main control unit in normal conditions
State information, and the depth profile of real-time monitoring submersible.Under emergency condition, emergency self-saving control unit adapter tube submersible master control
The permission of unit establishes the communication chain with submersible buoyancy regulating system, dynamical system, navigation system and data storage cell
Road, control above system execute Emergency decision movement.Emergency system power supply use more redundant power supply forms, system main power source with
After backup power source power supply trouble, emergency standby power can be powered emergency system, it is ensured that emergency self-saving operation can be executed, it is real
The recycling of existing submersible.
When submersible generation catastrophe failure, recycling of saving oneself must be carried out by emergency system by the judgement of Emergency decision mechanism
When, emergency self-saving control unit considers that normal buoyancy adjustment floats first, principle and process are as follows: as shown in figure 13, pump
13 reversions, since the operation of pump 13 causes the control terminal pressure difference of the first sequence valve 5 to be more than setting value and make the first sequence valve 5
It opens, seawater successively passes through second one-way valve 12, pump 13, the first sequence valve 5, filter 23, the discharge of maritime mouth at this time, makes to dive under water
The weight of device is reduced, and in the process, main control module 7 calculates current buoyancy value by temperature and air pressure to control pump 13
The closing when reaching required buoyancy value.Secondly consider that pressure-air emergency drainage floats, principle and process are as follows: such as Figure 14 institute
Show, main control module 7, which issues control instruction, opens the first solenoid valve 18 and second solenoid valve 19, at this time the high pressure in gas cylinder 17
Gas quickly enter in water tank 6 by the seawater in it from maritime mouth be discharged to make the buoyancy of submersible increase in a short time and
It floats on the water surface rapidly.Both processing modes do not influence submersible function, can recycled in its entirety.When first two processing mode is equal
When invalid, that is, judge automatically submersible depth do not occur float variation when, take the split type emergency self-saving of outer spherical shell.Specifically,
When outer spherical shell is designed to two fissions, connect relay, ignite all blasting bolts of ectosphere junction, open outer spherical shell and
Interior spherical shell support frame, interior spherical shell are shaken off automatically under itself big buoyancy, realize autonomous float；When outer spherical shell is designed to three
When seperated, according to the current pose of submersible, current seperated connection blasting bolt is ignited, upper fission is in preloading spring support
Effect is lower to open, and interior spherical shell floats；When outer spherical shell is designed to six fissions, according to the current pose of submersible, top layer point is ignited
The connection blasting bolt of body, surrounding fission are that preloading spring connection will automatically open, and interior spherical shell floats.
The power supply of emergency self-saving unit uses more redundant power supply forms, after system main power source power supply trouble, emergency power electricity
Source can be powered emergency system, it is ensured that can execute emergency operation, realize the Emergency recovery of submersible.As shown in figure 12, it answers
Anxious system power supply power pack has two-way only using main power source redundant power supply and emergency power battery back-up power mechanism, main power source
Vertical power input (1M, 1L+ and 2M, 2L+), power supply is exported to emergency system load circuit all the way, is determined by redundant power supply module
Plan simultaneously guarantees that two-way power supply can be to emergency system load circuit continued power.Reserve battery selects lithium battery group, simultaneously with main power source
Couple into current supply circuit.When main power circuit is working properly, emergency system is powered by main power source, and reserve battery does not discharge, when
When main power source power supply is broken down, backup power source starts work of discharging.It is to improve emergency using the purpose of redundant drive mechanism
The reliability of self-rescue system itself, when guaranteeing that catastrophe failure occurs, submersible can reliably discharge floating.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of bathysphere for formula emergency self-saving of escaping unnoticed, comprising: outer spherical shell (1), interior spherical shell (3) and main control module,
The interior spherical shell (3) is movably disposed in the outer spherical shell (1), and the main control module is set in the interior spherical shell (3)；
It is characterized by: the outer spherical shell (1) is divided at least two seperated (1.1), two neighboring seperated (1.1) if between by
Involvement fitting is connected, and the connector is all made of blasting bolt (4) or the combination using blasting bolt (4) and hinge (5)；It is described
Blasting bolt (4) is ignited that seperated (1.1) is made can be mutually unfolded or separate to discharge by main control module excitation
The interior spherical shell (3)；
Interior spherical shell has a maritime mouth；Setting water tank (6), pump valve group are total in space between the outer spherical shell of submersible and interior spherical shell
At (8), filter (23), detection module and main control module (7)；The number of pump valve group assembly (8) is two and with axial symmetry
Or central symmetry mode is set to the two sides of interior spherical shell；Pump valve group assembly (8), which can be all turned on, also individually to be opened, Mei Geji
Pump valve group assembly (8) includes the first sequence valve (9), the first check valve (10), the second sequence valve (11), second one-way valve (12)
With pump (13)；Sequentially couple filter (23), the first sequence valve (9), pump (13) and between maritime mouth and water tank (6)
Two sequence valves (11)；First sequence valve (9) and the second sequence valve (11) are oppositely arranged each other；First check valve (10) reversely joins
It connects and forms the first balanced valve at the both ends of the first sequence valve (9), second one-way valve (12) is reversely connected in the second sequence valve (11)
Both ends form the second balanced valve；Pump (13) electrically connects main control module (7).
2. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: described outer
Spherical shell (1) is divided into two fissions (1.1), and the fission (1.1) is hemispherical, the connection of the fission (1.1) with circular ring shape
Face (1.1.1), the connector are uniformly distributed along the circumferential direction of the joint face (1.1.1).
3. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: described outer
Spherical shell (1) is divided into three fissions (1.1), one of them described seperated (1.1) tool is spacious there are two entering and leaving for the interior spherical shell (3)
Mouthful (1.1.2), fission (1.1) described in other two can be respectively arranged at the opening (1.1.2).
4. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 3, it is characterised in that: be set to
It seperated (1.1) structure having the same at the opening (1.1.2) and is symmetrical arranged.
5. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: described outer
Spherical shell (1) is divided into six fissions (1.1), wherein four seperated (1.1) circumferentially can join end to end to be formed there are two tools
The cyclic structure body of open (1.1.2), fission (1.1) described in other two can be respectively arranged at the opening (1.1.2).
6. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 5, it is characterised in that: be set to
It seperated (1.1) structure having the same at the opening (1.1.2) and is symmetrical arranged.
7. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: further include
Support frame (2), support frame as described above (2) are set in the outer spherical shell (1)；Support frame as described above (2) is divided into two and half round frames, and two
Half round frame is connected by connector so that the interior spherical shell (3) can actively be set in the outer spherical shell (1), described
Connector is all made of blasting bolt (4) or the combination using blasting bolt (4) and hinge (5)；The blasting bolt (4) is by described
Main control module excitation ignites that half round frame of connected two is enable mutually to be unfolded or separate to discharge the interior spherical shell
(3).
8. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 7, it is characterised in that: described point
Preloading spring is provided with so that the blasting bolt (4) explosion time will be described seperated between body (1.1) and the interior spherical shell (3)
(1.1) it is mutually flicked with the interior spherical shell (3).
9. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: described point
The joint face (1.1.1) of body (1.1) is additionally provided with positioning protrusion (1.1.4) and location hole；The interior spherical shell (3) is divided into hemispherical
The connecting end surface of upper casing and hemispherical lower casing, the hemispherical upper casing and the hemispherical lower casing is provided with sealing flange, institute
The seal groove that sealing flange is provided with a ring shape is stated, sealing ring is set in the seal groove.
10. a kind of bathysphere of formula emergency self-saving of escaping unnoticed according to claim 1, it is characterised in that: described
Preloading spring is provided between seperated (1.1) so that the blasting bolt (4) explosion time mutually flicks seperated (1.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710950930.7A CN107719609B (en) | 2017-10-13 | 2017-10-13 | A kind of bathysphere for formula emergency self-saving of escaping unnoticed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710950930.7A CN107719609B (en) | 2017-10-13 | 2017-10-13 | A kind of bathysphere for formula emergency self-saving of escaping unnoticed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107719609A CN107719609A (en) | 2018-02-23 |
| CN107719609B true CN107719609B (en) | 2019-07-12 |
Family
ID=61211068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710950930.7A Active CN107719609B (en) | 2017-10-13 | 2017-10-13 | A kind of bathysphere for formula emergency self-saving of escaping unnoticed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107719609B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552578A (en) * | 2018-12-21 | 2019-04-02 | 上海得枢智能科技有限公司 | A kind of failure self-rescue system of underwater robot |
| CN109941411B (en) * | 2019-04-22 | 2020-08-28 | 上海海事大学 | Single-cell free manned submersible |
| CN113277043B (en) * | 2021-07-16 | 2021-11-19 | 深之蓝海洋科技股份有限公司 | Positioning device and underwater equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101152901B (en) * | 2006-09-26 | 2011-06-15 | 中国船舶重工集团公司第七一○研究所 | Mechanism for opening cap underwater |
| KR100994106B1 (en) * | 2008-09-09 | 2010-11-15 | 국방과학연구소 | Pressure release apparatus for high pressure container |
| CN203528795U (en) * | 2013-09-16 | 2014-04-09 | 中国船舶重工集团公司第七一〇研究所 | Underwater load rejection mechanism |
| CN103950514B (en) * | 2014-05-12 | 2016-06-01 | 西北工业大学 | A kind of opening cap underwater device |
| CN106828831B (en) * | 2017-01-19 | 2018-01-16 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
-
2017
- 2017-10-13 CN CN201710950930.7A patent/CN107719609B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107719609A (en) | 2018-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107719609B (en) | A kind of bathysphere for formula emergency self-saving of escaping unnoticed | |
| CN107618643A (en) | A kind of big specific capacity buoyancy adjustment, emergency self-saving integrated device and submersible | |
| CN103085948B (en) | Rescue capsule | |
| US20120328069A1 (en) | Underwater electricity generation module | |
| CN207045624U (en) | A kind of chargeable buoyage for aiding in communicating in the robot water of waters | |
| Xiang et al. | Research progresses on equipment technologies used in safety inspection, repair, and reinforcement for deepwater dams | |
| CN104890841B (en) | Equipment for submarine to overcome blocking layer meeting sinking, breakdown sinking and submergence and to realize fast floating self rescue | |
| US8866315B2 (en) | Underwater electricity generation module provided with a base | |
| CN108750052A (en) | The long manned submariner device of tunnel underwater operation type | |
| CN111758641A (en) | Light semi-submersible type suspension cable deep and open sea net cage with modular space truss structure | |
| CN204432974U (en) | Marine emergency management and rescue and salvaging airbag apparatus | |
| KR100951444B1 (en) | A movable power generation system and construction method thereof | |
| CN109703716A (en) | The anti-drowned patrol robot of one kind | |
| CN209258336U (en) | Deep ocean buoy | |
| CN209209004U (en) | A kind of autonomous type underwater robot weight balancing device | |
| CN109131804A (en) | Heavy lifesaving appliance is resisted strenuously certainly for submarine navigation device | |
| CN210503132U (en) | Underwater emergency rescue navigation and diving device for ship | |
| US10745877B2 (en) | Typhoon-resistant floating breakwater system and control method thereof | |
| CN109421896A (en) | The method for maintaining of suction box and its seal cover board and suction box | |
| CN108622335B (en) | Water surface rescue device | |
| CN104810070A (en) | Maintenance support base station and achievement method applicable to offshore floating nuclear power plant | |
| CN205098434U (en) | Portable lifesaving protection headgear of fleing | |
| CN104802972B (en) | Hydrophilic type deep-sea space station main ballast device | |
| CN205916308U (en) | Submarine detection fishing device | |
| RU2222459C1 (en) | Nuclear submarine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |