CN110450925A - A kind of multi-functional manned underwater vehicle for key water control project - Google Patents

A kind of multi-functional manned underwater vehicle for key water control project Download PDF

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Publication number
CN110450925A
CN110450925A CN201910664576.0A CN201910664576A CN110450925A CN 110450925 A CN110450925 A CN 110450925A CN 201910664576 A CN201910664576 A CN 201910664576A CN 110450925 A CN110450925 A CN 110450925A
Authority
CN
China
Prior art keywords
cabin
pressure
maintenance
kayak body
pressure sensor
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.)
Pending
Application number
CN201910664576.0A
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Chinese (zh)
Inventor
陆昕阳
徐洋
朱中原
王秦川
张清远
郭锦华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hohai University HHU
Original Assignee
Hohai University HHU
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hohai University HHU filed Critical Hohai University HHU
Priority to CN201910664576.0A priority Critical patent/CN110450925A/en
Publication of CN110450925A publication Critical patent/CN110450925A/en
Pending legal-status Critical Current

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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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/08—Propulsion
    • 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
    • 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
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses a kind of multi-functional manned underwater vehicles for key water control project, including by kayak body, control cabinet, clothing issue room, observation window, front illumination, maintenance cabin, access path, maintenance rotary support, camera, camera shooting illumination, propeller, trash rack grid, mechanical arm support, mechanical arm, out of my cabin pressure sensor, relief valve, photographic device, cabin pressure sensor, solenoid valve, pressure reducing valve, pipeline and high pressure gas cylinder.The present invention uses the structure of non-pressure resistance using principle of keeping pressure shell, the certain dry type space of inside ensuring, compared with existing sealed compartment formula submarine, easily fabricated and maintenance is at low cost, and it is easy to operate, personnel's technical requirements are low, and flexibility is preferable, and there are openings for bottom, it can guarantee the timely escape unharmed of staff when accident occurs, substantially increase security performance.

Description

A kind of multi-functional manned underwater vehicle for key water control project
Technical field
The invention belongs to key water control project apparatus fields, and in particular to a kind of multi-functional manned diving for key water control project Device.
Background technique
Key water control project often needs to carry out repair and maintenance when operating normally.Intake of hydropower station, which will be usually arranged, to be blocked dirt and sets Standby, blocking dirty equipment can prevent the floating materials such as drift wood, branch, leaf, weeds, rubbish, floating ice with water flow band people's water inlet, simultaneously It does not allow these floating materials to block water inlet, prevents from influencing water inlet ability.Trash rack is most common to block one of dirty equipment, many rivers Flood period floating material abruptly increase is flowed, the trash rack of entrance easily blocks.It such as removes contamination not in time, it is possible to power station be made to be forced to reduce Power output is even shut down, and damages the example of trash rack also Zeng Fasheng by pressure.There are mainly two types of cleaning methods now, and one is artificial clear Dirt, this kind of method risk is high, removes contamination and is not thorough；Another kind is that trash is removed contamination, this kind of method flexibility is poor, cost of removing contamination It is high.
Deep formula drain hole is arranged usually to drain off floodwater in gravity dam, and deep formula drain hole is since it is located at dam body bottom, on dam Afterwards water level be in any situation Shi Douke downstream supply water, carry out flood let out in advance, sand discharge etc., there is significant superior superiority, but It bears head height, and there are larger difficulty for maintenance.Deep formula drain hole can be divided into without pressure drain hole and have pressure drain hole, due to no pressure The cross dimensions of drain hole is excessive, dam body is weakened it is serious, therefore frequently with there is pressure drain hole, but when drain hole does not work, hole Interior internal water pressure is big, unfavorable to dam body stress and antiseepage, need to often be overhauled.Artificial maintenance need to be vented drain hole, economic loss Big and risk is high.
Ship lock is the important component of key water control project, and the operational efficiency of ship lock determines the Navigation capacity in river, thus The level of economic development in region is affected indirectly.Frequent opening and closing and lock floor due to lock gate is tight by current scour Weight, ship lock need periodic maintenance and maintenance.The main method of ship lock maintenance at this stage is to drain the water in ship lock, staff It enters back into ship lock to be overhauled, time-consuming for this kind of repair method, heavy workload, and seriously affects shipping, for large-scale water conservancy Hinge, shipping may be interrupted two weeks or more.
Modern Novel panel rock-fill dams are that large-scale vibrating stone roller is applied to dam body enrockment and is ground characterized by rolling enrockment Pressure, keeps the compactness of rockfill higher, so that the deformation of rockfill is significantly reduced, in addition, concrete face rockfill dam has Good stability against sliding, 1/7 or so of the horizontal thrust of water ballast(ing) substantially rockfill and water weight, and the resultant force of water ballast(ing) Ground can be passed in the upstream of the axis of dam.But the upstream dam facing of rock leakage is serious, is easy to happen seepage failure, Also very difficult for the repairing at crack and badly broken, the loss of reservoir water causes huge economic loss.
Underwater husbandry maintenance is small, the high-efficient mode of a kind of pair of key water control project influence on system operation, but underwater operation difficulty is big, Conventional diving device shell is usually high pressure resistant material, expensive, and submersible staff have when accident occurs it is powerful Hydraulic pressure be difficult safe escape.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-functional manned underwater vehicles for key water control project, solve in the prior art Intake of hydropower station trash rack removes contamination, has the underwater operations such as the maintenance of pressure drain hole, ship lock maintenance, the maintenance of upstream dam facing, operates numerous It is trivial, poor safety performance and technical problem at high cost.
In order to solve the above-mentioned technical problem, the present invention is achieved through the following technical solutions:
A kind of multi-functional manned underwater vehicle for key water control project, including control cabinet, kayak body and the storage being fixedly connected sequentially Object cabin；
Maintenance agencies, the two sides of the kayak body and the bottom of clothing issue room are mounted at the top of the control cabinet bottom and kayak body It is mounted on propeller and photographic device；The photographic device includes camera and camera shooting illumination, and the clothing issue room is for placing Trash rack grid, clothing issue room are equipped with mechanical arm support, two mechanical arms are equipped on the mechanical arm support；
Pressure-retaining system is installed in the kayak body；
The clothing issue room is equipped with mechanical arm support, pacifies on mechanical arm support for placing trash rack grid, clothing issue room tail portion Equipped with two mechanical arms.
Propeller is as dynamical system, it can be achieved that the floating of whole device, dive, left and right translation, left and right turn, movement spirit Living, posture is adjustable.Meanwhile it can use camera omnibearing observation ambient conditions.The maintenance cabin of dry type makes service work such as It is the same with land, the interference effect of water flow and water pressure is not had, is also convenient for welding and sealing.
By the way that in kayak body bottom, there are openings, therefore most of cabin shell inside and outside differential pressure is almost equal, it is no longer necessary to make With special pressure-resistant material.In cabin there are gas form a dry type space, staff can work wherein without by water Soma is disturbed.Since the apparatus structure simple material is common, manufacturing cost is low, and only needs conventional maintenance.
By the way that there are openings in control cabinet bottom, it can guarantee the timely escape unharmed of staff when accident occurs, greatly Security performance is improved greatly.Conventional diving device is when occurring accident, and due to external powerful hydraulic pressure, hatch door is usually not easy to open, It will appear situations such as stuck, cause life and property loss.The present apparatus is not provided with hatch door, and the aperture of bottom can be convenient for diving work Personnel enter and leave cabin at any time, it is ensured that the personal safety of staff.
It is equal that the multi-functional manned underwater vehicle of the key water control project is able to maintain pressure inside and outside kayak body, does not need pressure casing Open type multifunctional easy device, can be used for intake of hydropower station trash rack remove contamination, have pressure drain hole maintenance, ship lock maintenance, on Swim the underwater operations such as dam facing maintenance, can effectively improve the clean-up capability of trash rack, improve overhaul efficiency, will not have to shipping compared with It is big to influence, reduce seepage erosion, mechanization degree is high when work, securely and reliably.
Be further improved, the maintenance agencies include maintenance cabin, access path and maintenance rotary support, the maintenance cabin and One end of access path is connected, and the other end of access path is connected with maintenance rotary support.
Be further improved, the access path is scalable pipe fitting, two maintenance rotary supports pass through bearing respectively with control Rotation connection at the top of bilge portion processed and kayak body.
It is further improved, offers observation window at the top of the control cabinet, the front of control cabinet is provided with headlamp.
When the maintenance agencies work, the position in maintenance rotary support adjustment maintenance cabin is first passed through, when the covering of maintenance cabin needs When wanting service area, by pumping for water pump, making to overhaul is dry type space in cabin, and staff passes through access path again and enters maintenance Cabin carries out service work.
It is further improved, the pressure-retaining system includes pressure sensor, relief valve, cabin pressure sensor, electromagnetism out of my cabin Valve, pressure reducing valve, pipeline and high pressure gas cylinder；
Wherein, pressure sensor is set on kayak body outer wall out of my cabin, and relief valve is installed on kayak body outer wall, and with kayak body Cavity connection；Cabin pressure sensor, solenoid valve, pressure reducing valve, pipeline and high pressure gas cylinder are set in kayak body；
The high pressure gas cylinder, solenoid valve, pressure reducing valve are connected by pipeline, and when work, staff passes according to pressure in cabin The data of sensor and out of my cabin pressure sensor control the opening and closing of solenoid valve, to keep kayak body internal pressure strong stability.
It is further improved, is provided with controller, solenoid valve, pressure reducing valve, out of my cabin pressure sensor, relief valve in the kayak body It is electrically connected with the controller with cabin pressure sensor.
Compared with prior art, the beneficial effects of the present invention are:
1), the present invention utilizes principle of keeping pressure, in bottom there are opening, therefore most of cabin shell inside and outside differential pressure almost phase Deng, it is no longer necessary to use special pressure-resistant material.In cabin there are gas form a dry type space, staff can be wherein Work by water body without being interfered.Since the apparatus structure simple material is common, manufacturing cost is low, and only needs routine Maintenance.
2), there are openings for bottom of the present invention, can guarantee the timely escape unharmed of staff when accident occurs, mention significantly High security performance.When accident occurs, due to external powerful hydraulic pressure, hatch door is usually not easy to open, can go out conventional diving device Situations such as existing stuck, cause life and property loss.The present apparatus is not provided with hatch door, and the aperture of bottom can be convenient for diving staff Cabin is entered and left at any time, it is ensured that the personal safety of staff.
3), operation of the present invention is simple, and personnel's technical requirements are low, and flexibility is preferable.The power that the present invention is installed by kayak body System is, it can be achieved that floating, dive, left and right translation, left and right turn, and flexibly, posture is adjustable for movement.Meanwhile it can use camera Omnibearing observation ambient conditions.The maintenance cabin of dry type makes service work as land, does not have water flow and water pressure Interference effect, be also convenient for welding and sealing.
Detailed description of the invention
Fig. 1 is the perspective view of the multi-functional manned underwater vehicle for key water control project.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the bottom view of Fig. 1.
Fig. 4 is device principle of keeping pressure block diagram.
Specific embodiment
To keep the purpose of the present invention and technical solution clearer, below in conjunction with the embodiment of the present invention to skill of the invention Art scheme is clearly and completely described.
As shown in Figs 1-4, a kind of multi-functional manned underwater vehicle for key water control project, including kayak body 1, control cabinet 2, storing Cabin 3, front illumination 5, maintenance cabin 6, access path 7, maintenance rotary support 8, camera 9, camera shooting illumination 10, promotes observation window 4 Device 11, trash rack grid 12, mechanical arm support 13, mechanical arm 14, out of my cabin pressure sensor 15, relief valve 16, photographic device 17, Cabin pressure sensor 18, solenoid valve 19, pressure reducing valve 20, pipeline 21 and high pressure gas cylinder 22.
It is provided with controller in the kayak body, solenoid valve, pressure reducing valve, out of my cabin pressure in pressure sensor, relief valve and cabin Sensor is electrically connected with the controller.
When the device prepares to start to work, staff enters control cabinet 2, is lauched from bank, during dive, work Make personnel according to cabin pressure sensor 18 and data of pressure sensor 15 out of my cabin, the opening and closing of solenoid valve 19 is controlled, to keep 1 internal pressure strong stability of kayak body.
When carrying out trash rack clean-up operation, when device reaches intake of hydropower station, staff can be set by camera shooting The stopping state of standby 17 close-ups trash rack grid 12, if blocking is not especially severe, staff can be carried out with export Simple cleaning, if blocking is serious, staff, which can manipulate mechanical arm 14 and will block serious trash rack grid 12, to be sling, and is put into storage Object cabin 3, then the trash rack grid 12 cleaned out is hung out from clothing issue room 3, puts back in trash rack slot, will block and serious blocks dirt Grid grid 12 takes back land, can be recycled after cleaning out.
When having carried out pressure drain hole upkeep operation, for device into after there is pressure drain hole, staff can pass through camera shooting 17 close-ups of equipment have the breakage of pressure drain hole lining cutting, if badly broken, staff can control device posture simultaneously Using maintenance rotary support 8, make to overhaul the covering badly broken region of cabin 6, makes to overhaul by pumping for water pump empty for dry type in cabin 6 Between, staff can enter access path 7 at the top of 2 bottom of control cabinet or kayak body 1 later, maintenance cabin 6 be reached, to badly broken Lining cutting position repair.
When carrying out ship lock upkeep operation, behind the portion of device arrived ship pocket floor, staff can be close by picture pick-up device 17 The damaged condition of distance observation gate slot and the abrasion condition of lock floor, if lock gate slot badly broken, staff Controllable device posture and the maintenance rotary support 8 using 1 top of kayak body make the maintenance cabin 6 on 1 top of kayak body cover badly broken Region makes to overhaul for dry type space in cabin 6 by pumping for water pump, and staff can enter 1 middle part of kayak body from control cabinet 2 later, Access path 7 is entered back into, maintenance cabin 6 is reached, the position of badly broken is repaired.If lock floor serious wear, work Personnel can control device posture and the maintenance rotary support 8 using 2 lower part of control cabinet, cover the maintenance cabin 6 of 2 lower part of control cabinet Serious wear region makes to overhaul for dry type space in cabin 6 by pumping for water pump, and staff can enter from control cabinet 2 and examine later Channel 7 is repaired, maintenance cabin 6 is reached, is repaired to serious position is worn.
When carrying out the service work of upstream dam facing, after device reaches leakage critical regions, staff can pass through camera shooting The damaged condition of 17 close-ups rock upstream dam facing of equipment, if discovery has the wider region in crack, staff Controllable device posture and using the maintenance rotary support 8 at 1 top of 2 lower part of control cabinet or kayak body, make to overhaul cabin 6 cover crack compared with Wide region makes to overhaul for dry type space in cabin 6 by pumping for water pump, and staff can push up from 2 bottom of control cabinet or kayak body 1 later Portion enters access path 7, reaches maintenance cabin 6, the wider position of fracture repairs.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (6)

1. a kind of multi-functional manned underwater vehicle for key water control project, which is characterized in that including be fixedly connected sequentially control cabinet, Kayak body and clothing issue room；
Maintenance agencies are mounted at the top of the control cabinet bottom and kayak body, the two sides of the kayak body and the bottom of clothing issue room are pacified Equipped with propeller and photographic device；
The photographic device includes camera and camera shooting illumination, and the clothing issue room is for placing trash rack grid, clothing issue room installation There is mechanical arm support, two mechanical arms are installed on the mechanical arm support；
Pressure-retaining system is installed in the kayak body；
The clothing issue room is equipped with mechanical arm support, is equipped on mechanical arm support for placing trash rack grid, clothing issue room tail portion Two mechanical arms.
2. a kind of maintenance agencies of multi-functional manned underwater vehicle for key water control project according to claim 1, feature It is to be, the maintenance agencies include maintenance cabin, access path and overhaul rotary support, described to overhaul the one of cabin and access path End is connected, and the other end of access path is connected with maintenance rotary support.
3. a kind of maintenance agencies of multi-functional manned underwater vehicle for key water control project according to claim 2, feature To be, the access path is scalable pipe fitting, two maintenance rotary supports pass through bearing respectively with control cabinet bottom and ship Rotation connection at the top of body.
4. a kind of servicing machine of multi-functional manned underwater vehicle for key water control project according to any one of claim 1-3 Structure offers observation window at the top of the control cabinet, the front of control cabinet is provided with headlamp it is characterized in that being.
5. a kind of pressure-retaining system of multi-functional manned underwater vehicle for key water control project according to claim 4, feature It is, the pressure-retaining system includes pressure sensor, relief valve, cabin pressure sensor, solenoid valve, pressure reducing valve, pipeline out of my cabin And high pressure gas cylinder；
Wherein, pressure sensor is set on kayak body outer wall out of my cabin, and relief valve is installed on kayak body outer wall, and the cavity with kayak body Connection；Cabin pressure sensor, solenoid valve, pressure reducing valve, pipeline and high pressure gas cylinder are set in kayak body；
The high pressure gas cylinder, solenoid valve, pressure reducing valve are connected by pipeline, and when work, staff is according to cabin pressure sensor The data of pressure sensor out of my cabin control the opening and closing of solenoid valve, to keep kayak body internal pressure strong stability.
6. a kind of pressure-retaining system of multi-functional manned underwater vehicle for key water control project according to claim 5, feature It is, is provided with controller in the kayak body, solenoid valve, pressure reducing valve, out of my cabin pressure sensing in pressure sensor, relief valve and cabin Device is electrically connected with the controller.
CN201910664576.0A 2019-07-23 2019-07-23 A kind of multi-functional manned underwater vehicle for key water control project Pending CN110450925A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910664576.0A CN110450925A (en) 2019-07-23 2019-07-23 A kind of multi-functional manned underwater vehicle for key water control project

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910664576.0A CN110450925A (en) 2019-07-23 2019-07-23 A kind of multi-functional manned underwater vehicle for key water control project

Publications (1)

Publication Number Publication Date
CN110450925A true CN110450925A (en) 2019-11-15

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CN201910664576.0A Pending CN110450925A (en) 2019-07-23 2019-07-23 A kind of multi-functional manned underwater vehicle for key water control project

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112758201A (en) * 2021-02-07 2021-05-07 雷刚 Gate maintenance robot for hydraulic engineering
CN112854133A (en) * 2021-01-08 2021-05-28 中国船舶科学研究中心 Remote control type panel dam crack repairing manned device and operation method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112854133A (en) * 2021-01-08 2021-05-28 中国船舶科学研究中心 Remote control type panel dam crack repairing manned device and operation method
CN112758201A (en) * 2021-02-07 2021-05-07 雷刚 Gate maintenance robot for hydraulic engineering
CN112758201B (en) * 2021-02-07 2021-08-24 雷刚 Gate maintenance robot for hydraulic engineering

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WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20191115

WD01 Invention patent application deemed withdrawn after publication