CN112776963A - Deep sea operation level ROV adjustable buoyancy system - Google Patents

Deep sea operation level ROV adjustable buoyancy system Download PDF

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Publication number
CN112776963A
CN112776963A CN202110137547.6A CN202110137547A CN112776963A CN 112776963 A CN112776963 A CN 112776963A CN 202110137547 A CN202110137547 A CN 202110137547A CN 112776963 A CN112776963 A CN 112776963A
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CN
China
Prior art keywords
buoyancy
rov
deep sea
module
groove
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Application number
CN202110137547.6A
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Chinese (zh)
Inventor
张定华
沈克
项立扬
宋俊辉
郭园园
严佳
胡佩宝
李修波
陈宇航
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Shanghai CRRC Essendi Marine Equipment Co Ltd
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Shanghai CRRC Essendi Marine Equipment Co Ltd
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Priority to CN202110137547.6A priority Critical patent/CN112776963A/en
Publication of CN112776963A publication Critical patent/CN112776963A/en
Pending legal-status Critical Current

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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
    • B63G8/001—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
    • B63G8/14—Control of attitude or depth
    • B63G8/26—Trimming equipment
    • 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
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The invention relates to the field of deep sea operation, in particular to a deep sea operation-level ROV (remote operated vehicle) adjustable buoyancy system which comprises a buoyancy body and a buoyancy module, wherein the buoyancy body is provided with a groove, and the buoyancy module is detachably arranged in the groove. The invention has the advantages that the groove can be arranged at any position of the buoyancy body, the buoyancy module is arranged at any position of the buoyancy body along with the groove to change the buoyancy applying position of the buoyancy body, the density of the buoyancy body and/or the buoyancy module can be changed by changing the material of the buoyancy body and/or the buoyancy module, so that the buoyancy size of the buoyancy body is changed, and the buoyancy size and the buoyancy applying position of the buoyancy body can be adjusted by changing the shape and the size of the buoyancy module and/or the groove, so that the ROV is ensured to be in a zero-buoyancy balance state under water. The invention has simple structure, convenient installation of the buoyancy module, no need of the traditional oil-way buoyancy adjusting system, cost saving and environmental protection.

Description

Deep sea operation level ROV adjustable buoyancy system
Technical Field
The invention relates to the field of deep sea operation, in particular to a deep sea operation-level ROV (remote operated vehicle) adjustable buoyancy system.
Background
Advanced technology and equipment are not available for scientific investigation and resource development in deep sea, at present, scientific investigation and operation in the deep sea field mainly depend on a deep sea operation-level heavy ROV (remote Operated Vehicle, which is an underwater robot for underwater observation, inspection and operation), the deep sea operation-level heavy ROV has large operation depth and long operation time, can resist relatively severe marine environment, and is widely applied to the fields of marine geology and biological investigation, auxiliary laying of submarine optical cables and pipelines, deep sea rescue and salvage, monitoring and inspection of underwater structures and the like.
The main frame of the deep sea operation level ROV is made of metal, a power and propulsion system, an underwater observation system, a navigation positioning system and an underwater operation tool system are carried on the frame, and the weight of the main frame of the ROV and the carried systems can reach more than 1 ton. In order to ensure the flexibility of deep-sea operation level ROV underwater operation, a buoyancy system needs to be carried, and the underwater operation level ROV is ensured to be in a zero-buoyancy state under water so as to be convenient for underwater flexible operation. And different underwater operation tools, such as a 5-function manipulator, a 7-function manipulator, an underwater cutting machine, an underwater hydraulic shear and the like, need to be carried on the deep-sea operation-level ROV underwater operation tasks at different times. After the metal framework carries different underwater operation equipment, the gravity center of the metal framework can be changed, a variable buoyancy system is needed to balance the change, the ROV is ensured to be in a balanced state during underwater operation, and the variable buoyancy system is not available at present.
Disclosure of Invention
The invention aims to solve the technical problem that a variable buoyancy system is not available, and provides a deep sea working-level ROV adjustable buoyancy system which can adjust the gravity center of a frame.
The invention relates to a deep sea operation-level ROV (remote operated vehicle) adjustable buoyancy system which comprises a buoyancy body and a buoyancy module, wherein the buoyancy body is provided with a groove, and the buoyancy module is detachably arranged in the groove.
Furthermore, the buoyancy modules are multiple.
Furthermore, the grooves and the buoyancy modules are all provided with a plurality of buoyancy modules, and the buoyancy modules are arranged in the corresponding grooves.
Furthermore, the number of the grooves is two, the two grooves are respectively located on two sides of the buoyancy body, and the number of the buoyancy modules is at least two.
Furthermore, a plurality of grooves are symmetrically arranged on two sides of the buoyancy body.
Furthermore, a plurality of connecting holes are formed in the buoyancy body.
Furthermore, the baffle is detachably mounted on the buoyancy body, and the baffle is located on the outer side of the groove and can seal the groove.
Further, a fastener is arranged between the baffle and the buoyancy body.
Further, the fastener is a screw.
Furthermore, a gasket is arranged between the screw and the baffle plate.
The invention has the advantages that the groove can be arranged at any position of the buoyancy body, the buoyancy module is arranged at any position of the buoyancy body along with the groove, so that the buoyancy applying position of the buoyancy body is changed, the ROV is ensured to be in a zero-buoyancy balance state underwater, and the underwater flexible operation is realized. The invention can also change the density of the buoyancy body and/or the buoyancy module by changing the raw material ratio of the buoyancy body and/or the buoyancy module, thereby changing the buoyancy of the buoyancy body to ensure that the ROV is in a zero-buoyancy balance state underwater. The invention has simple structure, convenient installation of the buoyancy module, no need of the traditional oil-way buoyancy adjusting system, cost saving and environmental protection.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is another schematic structural view of the present invention, wherein another portion of the buoyancy body and buoyancy module is not shown;
FIG. 3 is a schematic diagram illustrating the calculation of the position change of the floating core after the buoyancy modules are inserted into different positions of the buoyancy body;
FIG. 4 is a schematic diagram of the number and positions of buoyancy modules to be added after scientific research equipment is mounted.
In the figure, 1, a buoyancy body 2, a buoyancy module 3, a baffle 4, a gasket 5, a screw 6 and a groove.
Detailed Description
As shown in the attached drawings 1 and 2, the deep sea operation level ROV adjustable buoyancy system comprises a buoyancy body 1 and a buoyancy module 2, wherein a groove 6 is formed in the buoyancy body 1, and the buoyancy module 2 is detachably mounted in the groove 6. The buoyancy body 1 is connected with the ROV main frame, and the buoyancy body 1 provides buoyancy for the ROV main frame so as to balance the gravity center of the ROV main frame. According to the difference of underwater operation tasks of the deep sea operation level ROV, different underwater operation tools are carried, the groove 6 can be arranged at any position of the buoyancy body 1, and the buoyancy module 2 is arranged at any position of the buoyancy body 1 along with the groove to change the buoyancy applying position of the buoyancy body 1, so that the ROV is ensured to be in a zero-buoyancy balance state underwater, and underwater flexible operation is realized. The structure can also change the density of the buoyancy body 1 and/or the buoyancy module 2 by changing the raw material ratio of the buoyancy body 1 and/or the buoyancy module 2, so as to change the buoyancy size of the buoyancy body 1 and ensure that the ROV is in a zero-buoyancy balance state underwater, and the structure can also adjust the buoyancy size and the buoyancy applying position of the buoyancy body 1 by the shape and the size of the buoyancy module 2 and/or the groove 6, so as to ensure that the ROV is in a zero-buoyancy balance state underwater. The structure is simple, the buoyancy module 2 is convenient to install, a traditional oil way buoyancy adjusting system is not needed, the cost is saved, and the environment is friendly.
The buoyancy modules 2 are multiple. Several buoyancy module 2 detachable installs in recess 6, can be through changing the position of each buoyancy module 2 in recess 6 to and change the quantity of buoyancy module 2, exert the position with buoyancy to change buoyancy size and the buoyancy of buoyancy body 1, thereby further guarantee that the ROV is in the equilibrium state of zero buoyancy under water.
The grooves 6 and the buoyancy modules 2 are all provided with a plurality of buoyancy modules 2, and the buoyancy modules 2 are arranged in the corresponding grooves 6. The plurality of buoyancy modules 2 are detachably mounted in the plurality of grooves 6, the positions and the number of the buoyancy modules 2 in the grooves 6 can be changed, whether the buoyancy modules 2 are mounted in the grooves 6 or not, and the shapes and the sizes of the buoyancy modules 2 and/or the grooves 6 can be changed, so that the buoyancy size and the buoyancy applying position of the buoyancy body 1 can be changed, and the ROV is further ensured to be in a zero-buoyancy balance state underwater.
The number of the grooves 6 is two, the two grooves 6 are respectively positioned on two sides of the buoyancy body 1, and the number of the buoyancy modules 2 is at least two. One buoyancy module 2 or a plurality of buoyancy modules 2 can be installed in each groove 6, and the buoyancy size and the buoyancy applying position of the buoyancy body 1 can be changed by changing the positions and the number of the buoyancy modules 2 in the grooves 6, whether the buoyancy modules 2 are installed in each groove 6, and the shapes and the sizes of the buoyancy modules 2 and/or the grooves 6, so that the ROV is further ensured to be in a zero-buoyancy balanced state underwater.
The plurality of grooves 6 are symmetrically arranged on two sides of the buoyancy body 1. This structure can play the role of balancing the buoyancy body 1 when the buoyancy modules 2 are all installed in the grooves 6.
The buoyancy body 1 is provided with a plurality of connecting holes. All correspond in the several connecting hole and set up the connecting piece, buoyancy body 1 is connected with the ROV main frame through the connecting piece. The structure enables the buoyancy body 1 and the ROV main frame to be firmly installed and conveniently detached.
The baffle 3 is detachably mounted on the buoyancy body 1, and the baffle 3 is located on the outer side of the groove 6 and can seal the groove 6. Baffle 3 can block that buoyancy module 2 breaks away from recess 6 for buoyancy module 2 can peg graft with recess 6, the installation of the buoyancy module 2 of further being convenient for and dismantlement, baffle 3 can also avoid debris to get into the buoyancy that recess 6 influences buoyancy body 1.
And a fastener is arranged between the baffle 3 and the buoyancy body 1. The fastener can be fixed baffle 3 on buoyancy body 1 for baffle 3 installation is firm, and it is convenient to dismantle.
The fastener can be of various structures, preferably a screw 5, and has the advantages of simple structure, low cost and convenience in installation. The fastener can also be a pin, a buckle and other structures.
And a gasket 4 is arranged between the screw 5 and the baffle 3. The gasket 4 can improve the sealing performance between the screw 5 and the baffle 3, and can also fix the screw 5 and the baffle 3 tightly and firmly.
The deep sea solid buoyancy material comprises a pure composite foam buoyancy material and a synthetic composite foam buoyancy material; the pure composite foam buoyancy material is formed by mixing glass beads and resin, and the synthetic composite foam buoyancy material is formed by mixing glass beads, resin and hollow spheres. The density and compressive strength of the buoyancy material are different according to different water depths of application, and the density is usually 300Kg/m3-800Kg/m3Meanwhile, the compressive strength is required to be higher than the pressure of the corresponding water depth, for example, the compressive strength is at least higher than 40Mpa when the material is applied to a buoyancy material with the water depth of 4000 meters. The water depth of 510Kg/m will be applied at 4000 meters3By way of example of a dense buoyancy material, the buoyancy modules 2 have dimensions of 100mm by 300mm, the individual buoyancy modules 2 have a mass of 4.59Kg, and the individual buoyancy modules 2 can provide buoyancy of:
Fbuoyancy force＝(ρSeawater, its production and use-ρBuoyant material)gV＝(1025-510)×9.8×0.009＝45.423N
As shown in FIG. 3, when the buoyancy module 2 is not added, the center of buoyancy is at the origin of coordinates O, and if a buoyancy module 2 of 100mm × 300mm × 300mm is inserted into each of the first space on the left (1049.5 mm from the origin of coordinates) and the third space on the right (649.5 mm from the origin of coordinates), the center of buoyancy after insertion is at the position of 100mm × 300mm × 300mm
Figure BDA0002927576860000041
As shown in fig. 4, when the ROV is not carrying any working tool, the center of gravity and the center of buoyancy of the ROV are on the same plumb line, if a 10kg water sampling bottle needs to be carried at the middle position of the rear end of the ROV, under the condition of not increasing the buoyancy module, the rear end of the ROV will necessarily decline, so that the buoyancy module needs to be additionally added to balance the newly added weight, 4 standard buoyancy modules of 100mm × 300mm × 300mm are adopted, and the left and right sides are respectively 2, and the placing positions are as follows:
Figure BDA0002927576860000042
wherein 1482.4mm is the distance between the water sampling bottle and the origin of coordinates O.
In summary, the invention can select the buoyancy modules 2 and/or the buoyancy bodies 1 made of different materials according to different application water depths, and calculate the shapes and sizes of the buoyancy modules 2 and/or the grooves 6 and the installation positions and the number of the buoyancy modules 2 according to the weight and the position of the carrying operation tool, so as to change the buoyancy size and the buoyancy applying position of the buoyancy bodies 1, thereby ensuring that the ROV is in a zero-buoyancy balanced state underwater.

Claims (10)

1. The utility model provides an adjustable buoyancy system of deep sea operation level ROV which characterized in that: the buoyancy module comprises a buoyancy body (1) and a buoyancy module (2), wherein a groove (6) is formed in the buoyancy body (1), and the buoyancy module (2) is detachably mounted in the groove (6).
2. The deep sea operations level ROV adjustable buoyancy system of claim 1, wherein: the buoyancy modules (2) are multiple.
3. The deep sea operations level ROV adjustable buoyancy system of claim 1, wherein: the grooves (6) and the buoyancy modules (2) are all provided with a plurality of buoyancy modules (2), and the plurality of buoyancy modules (2) are arranged in the corresponding grooves (6).
4. The deep sea operations level ROV adjustable buoyancy system of claim 1, wherein: the two grooves (6) are respectively positioned at two sides of the buoyancy body (1), and the number of the buoyancy modules (2) is at least two.
5. The deep sea operations level ROV adjustable buoyancy system of claim 3, wherein: the plurality of grooves (6) are symmetrically arranged on two sides of the buoyancy body (1).
6. The deep sea operations level ROV adjustable buoyancy system of claim 1, wherein: the buoyancy body (1) is provided with a plurality of connecting holes.
7. The deep sea operations level ROV adjustable buoyancy system of any one of claims 1 to 6, wherein: the buoyancy body (1) is detachably provided with the baffle (3), and the baffle (3) is positioned outside the groove (6) and can seal the groove (6).
8. The deep sea operations level ROV adjustable buoyancy system of claim 7, wherein: and a fastener is arranged between the baffle (3) and the buoyancy body (1).
9. The deep sea operations grade ROV adjustable buoyancy system of claim 8, wherein: the fastener is a screw (5).
10. The deep sea operations grade ROV adjustable buoyancy system of claim 9, wherein: and a gasket (4) is arranged between the screw (5) and the baffle (3).
CN202110137547.6A 2021-02-01 2021-02-01 Deep sea operation level ROV adjustable buoyancy system Pending CN112776963A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN202110137547.6A CN112776963A (en) 2021-02-01 2021-02-01 Deep sea operation level ROV adjustable buoyancy system

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2779863Y (en) * 2005-03-09 2006-05-17 陶亚平 Water surface floatation device
CN201737146U (en) * 2010-07-06 2011-02-09 浙江科技学院 Swimming auxiliary floating plate
CN106115921A (en) * 2016-06-01 2016-11-16 岭南新科生态科技研究院（北京）有限公司 The anti-freezing type ecological floating island buoyant device of reusable edible
CN208760876U (en) * 2018-09-18 2019-04-19 浙江九段智能科技有限公司 A kind of gravity adjusting device when the execution multitask for AUV
CN209634700U (en) * 2019-03-14 2019-11-15 昆明五威科工贸有限公司 A kind of underwater frogman's vehicle buoyant module

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2779863Y (en) * 2005-03-09 2006-05-17 陶亚平 Water surface floatation device
CN201737146U (en) * 2010-07-06 2011-02-09 浙江科技学院 Swimming auxiliary floating plate
CN106115921A (en) * 2016-06-01 2016-11-16 岭南新科生态科技研究院（北京）有限公司 The anti-freezing type ecological floating island buoyant device of reusable edible
CN208760876U (en) * 2018-09-18 2019-04-19 浙江九段智能科技有限公司 A kind of gravity adjusting device when the execution multitask for AUV
CN209634700U (en) * 2019-03-14 2019-11-15 昆明五威科工贸有限公司 A kind of underwater frogman's vehicle buoyant module

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Application publication date: 20210511