CN109229313B - Submersible frame structure and submersible - Google Patents
Submersible frame structure and submersible Download PDFInfo
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- CN109229313B CN109229313B CN201811188870.0A CN201811188870A CN109229313B CN 109229313 B CN109229313 B CN 109229313B CN 201811188870 A CN201811188870 A CN 201811188870A CN 109229313 B CN109229313 B CN 109229313B
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- ballast tank
- submersible
- discharge port
- gas
- frame structure
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- 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
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- 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
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
The application provides a submersible frame construction and submersible, wherein, frame construction includes: a frame body; a gas tank provided on the frame body; the first ballast tank is arranged at the top of the frame main body and is provided with a first liquid injection and discharge port and a first gas injection and discharge port, the first ballast tank is communicated with the external environment through the first liquid injection and discharge port, and the first gas injection and discharge port is connected with the gas tank; a second ballast tank disposed on the frame body below the first ballast tank; the second ballast tank is provided with a second liquid injection and discharge port and a second gas injection and discharge port, the second ballast tank is communicated with the external environment through the second liquid injection and discharge port, and the second gas injection and discharge port is connected with the gas tank. The application provides a submersible frame construction and submersible can improve the stability of submersible at last floating process.
Description
Technical Field
The present application relates to the art of underwater detection equipment, and in particular, to a submersible frame structure and submersible.
Background
The submersible is a device which can quickly and accurately reach deep sea areas and efficiently explore, scientifically investigate and develop complex marine environments.
The submersible comprises: the frame structure is provided with a power battery, an oxygen tank, a high-pressure gas tank, a ballast tank, a propeller, a mechanical arm and other equipment, wherein the ballast tank is important equipment in the floating and submerging processes of the submersible, the ballast tank is provided with a vent hole and a liquid through hole, the vent hole is connected with the high-pressure gas tank, and the liquid through hole is communicated with the external environment. The weight and buoyancy of the submersible are controlled by adjusting the ratio of gas to liquid in the ballast tank, and the submersible is controlled to submerge or float.
At present, only one ballast tank is usually arranged on the frame, and the ballast tank is arranged at the gravity center position of the whole submersible vehicle. When the moments at the ends of the vehicle are not parallel, for example: when the manipulator at one end of the submersible is in an unfolded state, if the submersible is controlled to float upwards at the moment, the gravity center of the submersible is unstable, so that relatively serious bow is inclined or stern is inclined, and long time is consumed for adjustment to restore balance.
Disclosure of Invention
In order to solve one of the above problems, embodiments of the present invention provide a framework structure of a submersible vehicle and a submersible vehicle, which can improve stability of the submersible vehicle during ascent.
To achieve the above object, a first aspect of an embodiment of the present application provides a submersible frame structure including:
a frame body;
a gas tank provided on the frame body;
the first ballast tank is arranged at the top of the frame main body and is provided with a first liquid injection and discharge port and a first gas injection and discharge port, the first ballast tank is communicated with the external environment through the first liquid injection and discharge port, and the first gas injection and discharge port is connected with the gas tank;
a second ballast tank disposed on the frame body below the first ballast tank; the second ballast tank is provided with a second liquid injection and discharge port and a second gas injection and discharge port, the second ballast tank is communicated with the external environment through the second liquid injection and discharge port, and the second gas injection and discharge port is connected with the gas tank
A second aspect of an embodiment of the present application provides a submersible vehicle comprising a submersible vehicle frame structure as described above.
According to the technical scheme provided by the embodiment of the application, a frame main body, a gas tank, a first ballast tank and a second ballast tank are adopted, wherein the first ballast tank is arranged at the top of the frame main body, a first liquid injection and discharge port is communicated with the external environment, and the first liquid injection and discharge port is connected with the gas tank; the second ballast tank is located the below of first ballast tank, and the second of second ballast tank is annotated the discharge port and is linked together with external environment, and the gas vent is annotated to the second and links to each other with the gas pitcher, and the above-mentioned scheme of first ballast tank setting at frame main part top that adopts is at the in-process of submersible floating, injects gas into first ballast tank, can improve the height of submersible buoyancy core, can improve the holistic stability of submersible, avoids the submersible to produce great rocking at the come-up in-process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural view of a submersible provided by an embodiment of the present application;
FIG. 2 is a right side plan view of the submersible provided by an embodiment of the present application;
FIG. 3 is a schematic structural view of a first ballast tank in a framework structure of a submersible vehicle according to an embodiment of the present disclosure;
FIG. 4 is a longitudinal cross-sectional view of a first ballast tank in a framework structure of a submersible vehicle provided in an embodiment of the present application;
FIG. 5 is a bottom view of a first ballast tank in a framework structure of a submersible vehicle according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a control device for a first ballast tank in a framework structure of a submersible vehicle according to an embodiment of the present disclosure;
FIG. 7 is an exploded view of the assembly of a first ballast tank with a side panel of the framework structure of the submersible provided by an embodiment of the present application;
FIG. 8 is a schematic structural view of a second ballast tank in a framework structure of a submersible provided by an embodiment of the present application;
FIG. 9 is a longitudinal cross-sectional view of a second ballast tank in the framework structure of the submersible provided by an embodiment of the present application;
FIG. 10 is a schematic illustration of the attachment of a second ballast tank to a mounting beam in a framework structure for a submersible vehicle according to an embodiment of the present application;
FIG. 11 is a longitudinal cross-sectional view of a second ballast tank coupled to a mounting beam in a framework structure of a submersible vehicle according to an embodiment of the present application;
FIG. 12 is a schematic view of a mounting beam coupled to a frame in a framework structure of a submersible vehicle according to an embodiment of the present disclosure.
Reference numerals:
1-a loading bay;
2-a frame structure; 21-side plate; 211-fitting through holes; 22-mounting the cross beam; 221-a mounting flange;
3-a gas tank;
4-a first ballast tank; 41-a bottom plate; 42-side coaming; 421-assembling a counter bore; 43-a top plate; 44-first liquid injection and discharge port; 45-first injection and exhaust port; 46-first gas line;
5-a second ballast tank; 51-a hollow shell; 52-second liquid injection and discharge port; 53-second injection and exhaust port; 54-liquid line; 55-a second gas line; 56-a sleeve;
61-a stop valve; 62-a first check valve; 63-hydraulic control high-pressure stop valve; 64-a second check valve; 65-a pressure reducing valve; 66-a filter; 67-hydraulic control low pressure stop valve; 68-hydraulic control stop valve.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The present embodiment provides a submersible frame structure comprising: the frame main part and set up gas pitcher, first ballast tank and second ballast tank on the frame main part, wherein, first ballast tank sets up at the top of frame main part, links to each other with the gas pitcher through the first gas injection and exhaust mouth that sets up on it, can improve the floating heart of submersible in the in-process of submersible come-up, is favorable to the submersible to keep stable.
The structure of the frame body can be implemented in various ways, as is known in the art. The present embodiment does not limit the concrete manner of the frame body as long as the gas tank, the first ballast tank, and the second ballast tank provided in the present embodiment can be provided on the frame body.
In general, the submersible may include only a frame structure and may also include a frame structure and a load compartment associated therewith. The loading cabin is a closed cabin body. The loading bay may be used for loading equipment, or for loading people or other creatures, and the embodiment specifically describes the implementation of the frame structure and the submersible only by taking the loading bay capable of loading people as an example.
The person skilled in the art can also apply the frame structure provided in this embodiment to a submersible comprising only a frame structure, or can also fit the frame structure to a load compartment for a load device, which load compartment can be connected to the frame structure in the same structure and in the same way as the people load compartment; alternatively, the loading bay for the loading device may be of a different construction to the manned loading bay and may be located inside, at the end or at the top of the frame structure.
Fig. 1 is a schematic structural view of a submersible provided in an embodiment of the present application, and fig. 2 is a right side plan view of the submersible provided in the embodiment of the present application. As shown in fig. 1 and 2, the present embodiment provides a submersible vehicle including: a loading bay 1 and a frame structure 2.
The frame structure 2 includes: a frame body, and a gas tank 3, a first ballast tank 4, and a second ballast tank 5 provided on the frame body. Wherein, the gas tank 3 is connected to the frame main body, and the gas tank 3 is filled with high-pressure gas. The number of the gas tanks 3 is two, and the gas tanks are symmetrically distributed on the frame body.
The first ballast tank 4 is arranged at the top of the frame main body, the first ballast tank 4 is provided with a first liquid injection and discharge port and a first gas injection and discharge port, the first ballast tank 4 is communicated with the external environment through the first liquid injection and discharge port, and the first gas injection and discharge port is connected with the gas tank 3. The gas tank 3 can inject gas into the first ballast tank 4, and liquid is injected into the first ballast tank 4 through the first liquid injection and discharge port, so that the amount of gas and liquid in the first ballast tank 4 can be adjusted, the weight of the submersible vehicle can be adjusted, and the submersible vehicle can dive and float. In particular, the first ballast tank 4 may span the top of the frame body.
The second ballast tank 5 is provided on the frame body below the first ballast tank 4. The second ballast tank 5 is provided with a second liquid injection and discharge port and a second gas injection and discharge port, the second ballast tank 5 is communicated with the external environment through the second liquid injection and discharge port, and the second gas injection and discharge port is connected with the 3 gas tank. The gas tank 3 can inject gas into the second ballast tank 5, and liquid is injected into the second ballast tank 5 through the first liquid injection and discharge port, so that the amount of gas and liquid in the second ballast tank 5 can be adjusted, the weight of the submersible vehicle is adjusted, and the submersible vehicle submerges and floats. The second ballast tank 5 is provided at a central position of the entire vehicle.
The technical scheme provided by the embodiment adopts a frame main body, a gas tank, a first ballast tank and a second ballast tank, wherein the first ballast tank is arranged at the top of the frame main body, a first liquid injection and discharge port is communicated with the external environment, and the first liquid injection and discharge port is connected with the gas tank; the second ballast tank is located the below of first ballast tank, and the second of second ballast tank is annotated the discharge port and is linked together with external environment, and the gas vent is annotated to the second and links to each other with the gas pitcher, and the above-mentioned scheme of first ballast tank setting at frame main part top that adopts is at the in-process of submersible floating, injects gas into first ballast tank, can improve the height of submersible buoyancy core, can improve the holistic stability of submersible, avoids the submersible to produce great rocking at the come-up in-process.
In addition, the first ballast tank 4 is arranged above the center of gravity, which avoids a large trim of the vehicle during filling of the first ballast tank 4.
The loading cabin 1 may be a hollow shell made of a titanium alloy material, and a hollow part inside the shell serves as an accommodating space into which an underwater vehicle can enter. The shape of the loading bay 1 may be spherical or olive-shaped; or the middle part of the cabin body 1 is a cylinder, and the two ends are hemispheric; alternatively, the loading bay 1 may be of other shapes. The loading compartment 1 provided in the present embodiment has a spherical structure, and those skilled in the art can also apply the implementation manner provided in the present embodiment to loading compartments 1 having other shapes.
The frame structure 2 is connected to the loading bay 1. Specifically, the frame structure 2 includes: at least two side plates 21. At least two side plates 21 are sequentially and vertically arranged, and a gap is reserved between every two adjacent side plates 21. The front ends of at least two side plates 21 are connected to the load compartment 1. At least one cross member is connected between the side plates 21 for supporting and fixing the side plates 21.
Further, the number of the side plates 21 is two, the two side plates 21 are arranged in parallel, two ends of each side plate are flush, the end part of each side plate facing the advancing direction of the submersible is used as a front end, and the end part of each side plate facing away from the advancing direction of the submersible is used as a rear end. The distance between the two side plates 21 is smaller than the diameter of the loading bay 1. Corresponding to two side plates 21, which are symmetrically arranged, the plane of symmetry of which coincides with the longitudinal centre plane of the loading bay 1.
The first ballast tank 4 may be symmetrically arranged on the frame body, and may particularly bridge between the two outermost side plates 21. In this embodiment, the number of the side plates 21 is two, and the structure thereof can be seen in fig. 1. The first ballast tank 4 is bridged at the top of the two side plates 21.
Figure 3 is a schematic structural view of a first ballast tank in a framework structure of a submersible provided by an embodiment of the present application,
fig. 4 is a longitudinal sectional view of a first ballast tank in the framework structure of the submersible vehicle according to the embodiment of the present application, and fig. 5 is a bottom view of the first ballast tank in the framework structure of the submersible vehicle according to the embodiment of the present application. The present embodiment provides a specific implementation of the first ballast tank 4, as shown in fig. 3 to 5, the first ballast tank 4 includes: bottom panel 41, side panels 42 and top panel 43. Wherein, the bottom plate 41 is arranged in a direction parallel to the horizontal plane, the side enclosing plate 42 extends upwards from the edge of the bottom plate 41, the top plate 43 is connected to the top of the side enclosing plate 42, and the bottom plate 41, the side enclosing plate 42 and the top plate 43 enclose a closed space for containing gas and/or liquid.
The side panels 42 define a structure having a horizontal cross-section that is approximately square, although the side panels 42 may define other shapes in addition to square, such as: circular, elliptical, trapezoidal, etc.
The side coaming 42 and the bottom plate 41 form a set angle, and the set angle can be 90-150 degrees. The set angle between the side coaming 42 and the bottom plate 41 shown in fig. 3 is a right angle, which corresponds to the surface of the first ballast tank 4 facing the side plate 21 being parallel to the side plate 21.
The shape of the first ballast tank 4 may be set according to the shape and position of other components provided in the frame structure, and the first ballast tank 4 shown in fig. 3 is shaped to enable appropriate avoidance and mating of other components located at the front and rear ends of the first ballast tank 4.
In the present embodiment, the ceiling 43 of the first ballast tank 4 is arched in a direction away from the floor 41, so that the volume of the first ballast tank 4 can be increased, and the resistance during floating can be reduced. Specifically, the outer surface of the top plate 43 is formed by splicing a plurality of planes, or the outer surface of the top plate 43 is an arc surface.
As shown in fig. 4, the bottom of the first ballast tank 4 is provided with a first liquid injection and discharge port 44, and the first liquid injection and discharge port 44 is a through hole formed on the bottom plate 41, so that the closed space in the first ballast tank 4 is communicated with the external environment through the first liquid injection and discharge port 44. When the vehicle is submerged, water can enter and exit the first ballast tank 4 through the first fill and drain port 44. Of course, the first filling and draining port 44 may be provided on the side coaming 42 of the first ballast tank 4 at a position near the bottom; alternatively, it may be provided on the ceiling 43 of the first ballast tank 4.
The first ballast tank 4 is provided with a first filling and discharging port 45 at the top or bottom, and the first filling and discharging port 45 is connected to the gas tank 3 through a first gas line 46. In this embodiment, the first filling and discharging port 45 is provided at the bottom of the first ballast tank 4, specifically, a through hole provided on the bottom plate 41. The first gas line 46 has one end connected to the gas tank 3 and the other end entering the first ballast tank 4 through the first filling and discharging port 45 and extending to the top inside the first ballast tank 4 so that the gas injected from the gas tank 3 is discharged directly to the top of the first ballast tank 4 to increase the internal pressure, causing the water to be discharged out of the first ballast tank 4 downward through the first filling and discharging port 44, as indicated by the arrow in fig. 4.
The first ballast tank 4 can be made of a material with relatively low pressure resistance, so that the manufacturing cost can be saved. The first ballast tank 4 can be adapted to a high pressure environment by adjusting the amount of liquid and gas in the first ballast tank 4 according to the submerged depth of the submersible vehicle so that the pressure in the first ballast tank 4 is the same as the external environment.
Fig. 6 is a schematic structural diagram of a control device of a first ballast tank in a framework structure of a submersible vehicle according to an embodiment of the present invention. As shown in fig. 6, the control device is used to control the processes of water filling and gas filling and discharging of the first ballast tank 4, and specifically, the control device comprises: a shut-off valve 61, a first check valve 62, a pilot-operated high-pressure shut-off valve 63, a second check valve 64, a pressure reducing valve 65, a filter 66, a pilot-operated low-pressure shut-off valve 67, and a pilot-operated shut-off valve 68. The above-mentioned components can be arranged on the framework structure of the submersible vehicle or in the loading compartment.
The gas tanks 3 are two in number and are filled with compressed gas at a pressure of 700 bar. The gas tank 3, the first check valve 62, the stop valve 61, the pilot-operated high-pressure stop valve 63, the second check valve 64, the pressure reducing valve 65, and the pilot-operated low-pressure stop valve 67 are connected in sequence.
Wherein the first check valve 62 and the second check valve 64 are one-way valves allowing only one-way passage of gas.
The stop valve 61 can be an automatic stop valve or a manual stop valve, and if the stop valve is an automatic stop valve, the stop valve 61 can be connected with the controller to execute opening and closing actions according to a control command sent by the controller; in the case of a manual shutoff valve, the shutoff valve 61 may be provided in the loading bay, and the opening and closing of the shutoff valve 61 may be manually adjusted by the diver. The shut-off valve 61 is in a normally open state,
the hydraulic control high-pressure stop valve 63 and the hydraulic control low-pressure stop valve 67 are controlled to be opened and closed by a hydraulic pump, and hydraulic driving equipment can be arranged on the frame structure and also can be arranged in the loading cabin. The pilot-operated high-pressure cutoff valve 63 and the pilot-operated low-pressure cutoff valve 67 are both in a normally closed state.
The hydraulically controlled low pressure stop valve 67 is also connected to the first filling and discharging port 45 of the first ballast tank 4 through a hydraulically controlled stop valve 68. The pilot-operated shutoff valve 68 is also controlled to open and close by the hydraulic pump.
The process of controlling the first ballast tank 4 to work by adopting the control device can be divided into a water injection process and a water drainage process in seawater:
and (3) water injection process: the hydraulic pump source is first activated to drive the hydraulically-controlled low-pressure stop valve 67 and the hydraulically-controlled stop valve 68 to open, seawater enters the first ballast tank 4 through the first liquid/liquid injection/discharge port 44, and gas in the first ballast tank 4 is discharged through the hydraulically-controlled stop valve 68 and the hydraulically-controlled low-pressure stop valve 67. When the seawater filled in the first ballast tank 4 meets the requirement, the hydraulic control low-pressure stop valve 67 is closed, and the hydraulic control stop valve 68 is still in an open state.
And (3) a drainage process: when the stop valve 61 is opened and the hydraulic pump source is started to drive the hydraulic control high-pressure stop valve 63 to open, the gas in the gas tank 3 sequentially passes through the first check valve 62, the stop valve 61, the hydraulic control high-pressure stop valve 63, the second check valve 64, the pressure reducing valve 65, the filter 66 and the hydraulic control stop valve 68 to enter the first ballast tank 4, so that the pressure in the first ballast tank 4 is increased, and the seawater in the first ballast tank is enabled to be discharged through the first liquid/liquid injection/discharge port 44. When the discharged returned water amount meets the requirement, the hydraulic control high-pressure stop valve 63 is closed.
When the vehicle is floating on the water surface, the first filling and draining port 44 of the first ballast tank 4 is not in contact with the water, and a liquid pump can be used to fill the first ballast tank 4 with water through the first filling and draining port 44.
The first ballast tank 4 and the side plate 21 can be fixed by screwing, clamping and the like. In this embodiment, a bolt connection method is provided. In particular, the method comprises the following steps of,
figure 7 is an exploded view of the assembly of a first ballast tank with a side panel in a framework structure for a submersible provided by an embodiment of the present application. As shown in fig. 7, a fitting counterbore 421 is formed in the side shroud 42 of the first ballast tank 4 facing the side plate 21, and an inner wall of the fitting counterbore 421 is provided with an internal thread. The side plate 21 is correspondingly provided with an assembly through hole 211, the first ballast tank 4 is moved to the assembly counterbore 421 aligned with the assembly through hole 211 according to the direction indicated by the arrow in fig. 7, and then a screw is used to pass through the assembly through hole 211 from the outer side of the side plate 21 and then penetrate into the assembly counterbore 421 to be screwed down, so that the first ballast tank 4 is fixed on the side plate 21. It will be appreciated that both sides of the first ballast tank 4 are connected to the side plates 21 in the manner described above.
Alternatively, other arrangements between the first ballast tank 4 and the side plate 21 may be used: for example: the bottom plate 41 or the side wall plate 42 is provided with a mounting portion, a mounting hole is formed in the mounting portion, and the first ballast tank 4 and the side plate 21 are fixedly connected by screws sequentially passing through the mounting through holes 211 in the side plate 21 and the mounting hole.
The side plate 21 may be made of a titanium alloy material, and the first ballast tank 4 may be made of a titanium alloy material.
The volume of the first ballast tank 4 can be set according to the ballast adjustment capability of the submersible vehicle, and in this embodiment, the volume of the first ballast tank 4 is set to 600L, and its own weight is 85Kg, which is the weight of the first ballast tank 4 when the water injection amount is zero.
If the first ballast tank 4 is slightly offset from the center of gravity in the horizontal direction, the trim of the vehicle can be adjusted by adjusting the amount of water injected into the first ballast tank 4.
Figure 8 is a schematic structural view of a second ballast tank in a framework structure of a submersible provided by an embodiment of the present application,
fig. 9 is a longitudinal cross-sectional view of a second ballast tank in a framework structure of a submersible provided by an embodiment of the present application. As shown in fig. 8 and 9, the second ballast tank 5 includes: the hollow shell 51 is made of a material with good pressure resistance to be spherical, so that the second ballast tank 5 has good pressure resistance.
The bottom of the hollow shell 51 is provided with a second liquid injection and discharge port 52, the second liquid injection and discharge port 52 is connected with a liquid pipeline 54, and the liquid pipeline 54 is communicated with the external environment, so that the second ballast tank 5 is communicated with the external environment.
The top of the hollow shell 51 is provided with a second gas injection and exhaust port 53, the second gas injection and exhaust port 53 is connected with one end of a second gas pipeline 55, and the other end of the second gas pipeline 55 is connected with the gas tank 3.
Similarly, the control means is used to control the process of filling and emptying the second ballast tank 5, and the implementation of the control means can be referred to the implementation for controlling the first ballast tank 4 described above.
The second ballast tank 5 may be located near the centre of gravity of the entire vehicle, at the midpoint of the line between the two side panels 21. Fig. 10 is a schematic structural view of the connection of the second ballast tank to the mounting cross member in the framework structure of the submersible vehicle according to the embodiment of the present invention, fig. 11 is a longitudinal sectional view of the connection of the second ballast tank to the mounting cross member in the framework structure of the submersible vehicle according to the embodiment of the present invention, and fig. 12 is a schematic structural view of the connection of the mounting cross member to the framework in the framework structure of the submersible vehicle according to the embodiment of the present invention. As shown in fig. 10 to 12, a mounting cross member 22 may be disposed between the two side plates 21, mounting flanges 221 may be disposed at both ends of the mounting cross member 22, and through holes may be disposed on the mounting flanges 221 to be fixed to the two side plates 21 by a screw method.
Further, a sleeve 56 is provided at the bottom of the hollow housing 51, and the sleeve 56 is connected to the liquid line 54. A through hole through which the sleeve 56 passes is opened in the mounting cross member 22, and the sleeve 56 and the mounting cross member 22 are fixed together by a bolt.
The second ballast tank 5 may be made of a titanium alloy material and can withstand a working pressure of 60 MPa. The second ballast tank 5 had an internal diameter of 478mm, a wall thickness of 7mm and a volume of 57.2L.
By adjusting the amount of water filled in the first ballast tank 4 and the second ballast tank 5, the pitching of the submersible can be adjusted.
Furthermore, the second ballast tank 5 can slightly shift the center of gravity of the submersible in the horizontal direction, and the effect of fine adjustment of the pitching of the submersible can be achieved by adjusting the amount of water injected into the second ballast tank 5. For example: in the process of executing the diving task each time, the weight of the diver entering the loading cabin is different, and the water injection quantity in the second ballast tank 5 can be slightly adjusted, so that the head and the tail of the submersible are kept balanced, and the serious forward inclination or the serious stern inclination is avoided.
The diving and floating process of the submersible formed by adopting the technical scheme is as follows:
the diving process is divided into four stages:
in the first stage, the vehicle floats on the water surface and neither the first ballast tank 4 nor the second ballast tank 5 is filled with water.
In the second stage, water is injected into the second ballast tank 5, and the injection amount is half of the volume of the second ballast tank 5. The first ballast tank 4 is filled with water so that the weight of the vehicle is greater than the buoyancy and the vehicle begins to dive and gradually accelerates.
In the third stage, as the submergence depth is increased continuously, the resistance of the seawater is increased continuously, and the submergence speed of the submersible vehicle is reduced gradually.
And in the fourth stage, when the submersible vehicle reaches the target depth, the first diving weight on the submersible vehicle can be thrown off, and the speed is further reduced until the submersible vehicle stops at the target depth.
The floating process is divided into three stages:
in the first stage, water in the first ballast tank 4 is discharged, and the second submerged weight on the submersible vehicle is thrown off, so that the buoyancy of the submersible vehicle is greater than the gravity, and the submersible vehicle is accelerated to float upwards.
In the second stage, the floating speed of the submersible is gradually reduced under the influence of seawater resistance.
And in the third stage, when the submersible floats to the depth of 100 meters, water is injected into the first ballast tank 4 so as to further reduce the floating speed until the submersible floats out of the water surface.
The embodiment of the application also provides a submersible, which comprises the frame structure provided by the content.
In the description of the present application, 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", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (11)
1. A submersible frame structure, comprising:
a frame body; the frame body includes: at least two vertical side plates, wherein a gap is reserved between every two adjacent side plates;
a gas tank provided on the frame body;
the first ballast tank is arranged at the top of the frame main body and is connected between the two side plates; the first ballast tank is provided with a first liquid injection and discharge port and a first gas injection and discharge port, the first ballast tank is communicated with the external environment through the first liquid injection and discharge port, and the first gas injection and discharge port is connected with the gas tank;
a second ballast tank disposed on the frame body below the first ballast tank; the second ballast tank is provided with a second liquid injection and discharge port and a second gas injection and discharge port, the second ballast tank is communicated with the external environment through the second liquid injection and discharge port, and the second gas injection and discharge port is connected with the gas tank.
2. The frame structure of claim 1, wherein the first ballast tank comprises: the side enclosing plates extend upwards from the edges of the bottom plate, and the top plate is connected to the tops of the side enclosing plates; the bottom plate, the side enclosing plates and the top plate enclose a closed space for containing gas and/or liquid.
3. A frame structure according to claim 2, wherein the side enclosures are at a set angle to the base panel, the set angle being 90 ° -150 °.
4. A frame structure according to claim 2, wherein the top panel is arched away from the bottom panel.
5. The frame structure of claim 4, wherein the outer surface of the top plate is formed by splicing a plurality of flat surfaces.
6. The frame structure of claim 2, wherein the first ballast tank is fixed to the frame body by screwing or clipping.
7. The frame structure of claim 1, wherein the second ballast tank is a hollow sphere.
8. The frame structure according to claim 1, wherein the number of the side plates is two, and the side plates on both sides are parallel.
9. The frame structure of claim 8, further comprising:
the mounting cross beam is connected between the two side plates;
the second ballast tank is connected to the mounting beam.
10. The frame structure of claim 1, wherein the first ballast tank is made of a titanium alloy material; the second ballast tank is made of titanium alloy materials.
11. A submersible vehicle comprising a submersible vehicle frame structure according to any one of claims 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811188870.0A CN109229313B (en) | 2018-10-12 | 2018-10-12 | Submersible frame structure and submersible |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811188870.0A CN109229313B (en) | 2018-10-12 | 2018-10-12 | Submersible frame structure and submersible |
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| Publication Number | Publication Date |
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| CN109229313A CN109229313A (en) | 2019-01-18 |
| CN109229313B true CN109229313B (en) | 2020-06-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101323362B (en) * | 2008-07-01 | 2011-12-21 | 上海大学 | Sinkage control mechanism for underwater robot |
| CN104670444B (en) * | 2013-11-30 | 2017-03-15 | 中国科学院沈阳自动化研究所 | A kind of unidirectional buoyancy regulating device for Autonomous Underwater aircraft |
| CN206243420U (en) * | 2016-07-05 | 2017-06-13 | 杭州畅动智能科技有限公司 | The floating sinking mechanism of bionic machine fish |
| CN206187311U (en) * | 2016-11-19 | 2017-05-24 | 浙江大学 | Dark superhigh pressure seawater sampling ware in full sea is buoyancy regulating device independently |
| CN107933858A (en) * | 2017-12-15 | 2018-04-20 | 江苏科技大学 | A kind of two-way ballast underwater glider |
| CN108082424A (en) * | 2018-01-25 | 2018-05-29 | 杭州爱易特智能技术有限公司 | A kind of underwater detecting robot for low visibility waters |
| CN108482598A (en) * | 2018-04-05 | 2018-09-04 | 徐芝香 | One kind can dive building structure and its snorkeling method |
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