CN113859480B - Roller type traction device and method for deep submersible vehicle culvert maintenance and maintenance culvert - Google Patents
Roller type traction device and method for deep submersible vehicle culvert maintenance and maintenance culvert Download PDFInfo
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- CN113859480B CN113859480B CN202111254071.0A CN202111254071A CN113859480B CN 113859480 B CN113859480 B CN 113859480B CN 202111254071 A CN202111254071 A CN 202111254071A CN 113859480 B CN113859480 B CN 113859480B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B81/00—Repairing or maintaining vessels
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- 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
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
- B63C3/02—Launching or hauling-out by landborne slipways; Slipways by longitudinal movement of vessel
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- 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
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
- B63C3/12—Launching or hauling-out by landborne slipways; Slipways using cradles
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- 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
- B63C3/00—Launching or hauling-out by landborne slipways; Slipways
- B63C3/14—Launching or hauling-out by landborne slipways; Slipways using braking means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a roller type traction device for culvert maintenance of a deep submersible vehicle, which is arranged in a maintenance culvert and comprises a bottom supporting device and a side supporting device, wherein the bottom supporting device is vertically arranged in the maintenance culvert, and the lower end of the bottom supporting device is vertically and fixedly connected with the lower side surface of the maintenance culvert; the side supporting device is horizontally arranged in the maintenance culvert, and the first end of the side supporting device is respectively and vertically and fixedly connected with the left side surface and the right side surface of the maintenance culvert; the bottom supporting device is arranged at the bottom of the maintenance culvert, and the side supporting devices are arranged at the sides of the maintenance culvert, so that the deep submersible vehicle entering the maintenance culvert can be positioned by changing the structures of the bottom supporting device and the side supporting devices.
Description
Technical Field
The invention relates to the field of nuclear energy maintenance, in particular to a roller type traction device and method for deep submersible vehicle culvert entry maintenance and a maintenance culvert.
Background
The deep submergence vehicle is difficult to enter a specific maintenance port and culvert due to the complex structure and the overlarge size, and particularly aims at the deep submergence vehicle with nuclear facilities, and the requirement on the moving precision of the deep submergence vehicle is high due to the special requirement on the maintenance of a nuclear device. For the deep submergence vehicles with the length of more than 100 meters, if the entered maintenance port is a culvert, if the allowance of the surrounding space is small, and the distance between two sides and the wall of the culvert is less than 1 meter, the deep submergence vehicles are not easy to control manually and are easy to generate rubbing and hanging collision.
For the sake of mobile safety, special maintenance devices for port entry are required. At present, the maintenance of the deep submergence vehicle depends on manual work to realize short-distance movement and positioning, time and labor are wasted, the effect is not good, if the maintenance is realized manually, the maintenance of some large-scale deep submergence vehicles needs hundreds of people to uniformly command to realize accurate movement, the management and scheduling are difficult, and the poor economy and the overlong maintenance period of the maintenance of the deep submergence vehicles are caused.
Disclosure of Invention
The invention aims to solve the technical problems that when a deep submersible vehicle enters a maintenance culvert, manual movement, positioning and movement are needed, time and labor are wasted, and the effect is poor.
The invention is realized by the following technical scheme:
a roller type draw gear of culvert maintenance is gone into to deep submergence ware, its setting is in maintaining the culvert, draw gear includes:
the bottom supporting device is provided with an upper end and a lower end, the bottom supporting device is vertically arranged in the maintenance culvert, and the lower end of the bottom supporting device is vertically and fixedly connected with the lower side surface of the maintenance culvert;
the side supporting device is provided with a first end and a second end, the side supporting device is horizontally arranged in the maintenance culvert, and the first end of the side supporting device is respectively and fixedly connected with the left side surface and the right side surface of the maintenance culvert in a vertical mode;
when the deep submersible vehicle enters the maintenance culvert, the bottom surface of the deep submersible vehicle is in contact with the upper end of the bottom supporting device, and the side surface of the deep submersible vehicle is in contact with the second end of the side supporting device.
Specifically, the bottom support device comprises:
a plurality of bottom non-powered support assemblies distributed in a rectangular array on a lower side of the maintenance culvert;
the side support device includes:
a plurality of lateral power support assemblies;
the side non-power type supporting component is arranged below the water surface, and the side power type supporting component is arranged on the water surface.
Specifically, the lateral dynamic support assembly includes:
the fixed end of the power telescopic component is vertically and fixedly connected with the left side face/the right side face of the maintenance culvert;
the power roller is rotatably connected with the moving end of the power telescopic assembly, and the rolling direction of the power roller is parallel to the axial direction of the deep submergence vehicle;
the servo motor is fixedly connected with the moving end of the power telescopic assembly, and the power output end of the servo motor is in power connection with the power input end of the power roller.
In particular, the bottom non-powered support assembly/the side non-powered support assembly comprises:
the fixed end of the unpowered telescopic component is vertically and fixedly connected with the lower side surface/left side surface/right side surface of the maintenance culvert;
the non-power roller is rotatably connected with the moving end of the non-power telescopic assembly, and the rolling direction of the non-power roller is parallel to the axial direction of the deep submersible vehicle.
Further, the bottom non-powered support assembly/the side powered support assembly further comprises:
the brake system is fixedly connected with the moving end of the power telescopic assembly, and a brake position of the brake system is in contact with the power roller;
And the braking system is also fixedly connected with the moving end of the non-power telescopic component, and a braking position of the braking system is in contact with the non-power roller.
Specifically, the powered/non-powered telescoping assembly comprises:
the oil pump system is arranged on the inner wall of the maintenance culvert;
the positioning system is arranged on the inner side surface of the maintenance culvert and used for measuring the position of the deep submersible vehicle in the maintenance culvert, and a signal end of the positioning system is electrically connected with a signal end of the oil pump system;
and the hydraulic telescopic rod is arranged in the maintenance culvert, and an oil path of the hydraulic telescopic rod is communicated with the oil pump system.
Preferably, the power roller/the non-power roller is an inflatable rubber wheel, and the radian of the contact surface of the power roller/the non-power roller and the deep submersible vehicle is matched with the shape arc of the outer cabin wall of the deep submersible vehicle;
and pressure sensors are arranged in the power roller/the non-power roller, and the signal ends of the pressure sensors are electrically connected with the signal end of the oil pump system.
A culvert for deep submergence vehicle maintenance comprises the roller type traction device for deep submergence vehicle culvert maintenance.
Specifically, the distance between the inner side surface of the maintenance culvert and the outer cabin wall of the deep submersible vehicle is not more than 1m, and the diameter of the power roller/the non-power roller is not more than 30 cm.
A roller type traction method for deep submersible vehicle culvert maintenance is based on the roller type traction device for deep submersible vehicle culvert maintenance, and comprises the following steps:
aligning the deep submergence vehicle to a maintenance culvert and driving into the maintenance culvert;
the positioning system measures the position of the deep submersible vehicle in the maintenance culvert;
obtaining the distance between the outer bulkhead of the deep submersible vehicle and the maintenance culvert;
the oil pump system controls the non-power telescopic rod to extend, and the non-power roller wheels are all contacted with the outer cabin wall of the deep submersible vehicle;
non-power roller braking;
the pressure sensor detects the air pressure in the non-power roller in real time, and when the air pressure is greater than a set upper limit value, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system; when the air pressure is smaller than a set lower limit value, the corresponding hydraulic telescopic rod is controlled to extend through an oil pump system;
after the deep submersible vehicle is in place or when the deep submersible vehicle needs to be moved, the power telescopic rod is controlled to extend, and the power rollers are all in contact with the outer cabin wall of the deep submersible vehicle;
controlling a servo motor to drive a power roller to rotate;
The pressure sensor detects the air pressure in the power roller in real time, and when the air pressure is greater than a set upper limit value, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system; and when the air pressure is smaller than the set lower limit value, the corresponding hydraulic telescopic rod is controlled to extend through the oil pump system.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the invention, the bottom supporting device is arranged at the bottom of the maintenance culvert, and the side supporting device is arranged at the side edge of the maintenance culvert, so that the deep submergence vehicle entering the maintenance culvert can be positioned by changing the structures of the bottom supporting device and the side supporting device;
and a power type supporting component is arranged in the side supporting device, so that a certain acting force can be applied to the deep submergence vehicle, and the deep submergence vehicle can move in the maintenance culvert.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a schematic view of a maintenance culvert entering by a roller type traction method for deep submersible culvert maintenance according to the present invention.
Fig. 2 is a front view of a roller type traction apparatus for deep submersible culvert maintenance according to the present invention.
Fig. 3 is a schematic structural view of a lateral dynamic support assembly according to the present invention.
Reference numerals: 1-maintenance culvert, 2-deep submergence device, 3-bottom non-power type supporting component, 4-side non-power type supporting component, 5-side power type supporting component, 6-power telescopic component, 7-power roller and 8-servo motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
For the determination of the traction of the deep submersible vehicle 2 realized through manpower, the present embodiment aims to improve the efficiency of traction, improve the accuracy of traction, shorten the maintenance cycle of various devices, and reduce the increasing manpower cost.
Example one
A roller type traction device for culvert maintenance of a deep submersible vehicle is arranged in a maintenance culvert 1, the maintenance culvert 1 is a base body of a culvert type maintenance port and is built on the water surface, and one part of the maintenance culvert 1 is positioned below the water surface and the other part of the maintenance culvert is positioned above the water surface.
The traction device comprises a bottom support device and a side support device.
The bottom supporting device is provided with an upper end and a lower end, the bottom supporting device is vertically arranged in the maintenance culvert 1, and the lower end of the bottom supporting device is vertically and fixedly connected with the lower side surface of the maintenance culvert 1;
the side supporting device is provided with a first end and a second end, the side supporting device is horizontally arranged in the maintenance culvert 1, and the first end of the side supporting device is respectively and vertically and fixedly connected with the left side surface and the right side surface of the maintenance culvert 1;
wherein, when deep submergence ware 2 got into maintenance culvert 1, deep submergence ware 2's bottom surface and bottom strutting arrangement's upper end contact, deep submergence ware 2's side and side strutting arrangement's second end contact.
I.e. after the submersible vehicle 2 has entered the maintenance culvert 1, the bottom support means support the entire submersible vehicle 2 and, because it is located in the water, there will also be a certain buoyancy.
The side strutting arrangement supports the side of deep diving ware 2, all sets up side strutting arrangement through left side and right side at maintenance culvert 1, prescribes a limit to its left and right sides position through the strutting arrangement on both sides, has realized the rigidity to deep diving ware 2 promptly.
Example two
In the first embodiment, the position of the deep submersible vehicle 2 is fixed so that the deep submersible vehicle can be stably fixed in the maintenance culvert 1, but the front and rear positions of the deep submersible vehicle 2 need to be adjusted when the deep submersible vehicle is maintained, and therefore, the structure of the bottom support device and the side support device is explained in the first embodiment.
The bottom support means comprises a plurality of bottom non-powered support assemblies 3.
The bottom non-power type supporting assemblies 3 are distributed on the lower side surface of the maintenance culvert 1 in a rectangular array mode, namely, as shown in figure 2, a two-column and multi-row mode is adopted, and the number of columns and rows of the bottom non-power type supporting assemblies 3 can be adjusted according to the tonnage of the deep submersible vehicle 2, so that the deep submersible vehicle 2 can be effectively supported.
The lateral support means comprises a plurality of lateral powered support members 5 and a plurality of lateral non-powered support members 4.
A plurality of side power type supporting component 5 and a plurality of side non-power type supporting component 4 are the left surface and the right flank that the rectangular array distributes at maintenance culvert 1, and side power type supporting component 5 sets up on the surface of water, and side non-power type supporting component 4 sets up under the surface of water.
As shown in fig. 2, a row of side non-powered support assemblies 4 may be provided on each of the left and right sides of the deep submersible vehicle 2 and below the surface of the water, and a row of side powered support assemblies 5 may be provided on each of the left and right sides of the deep submersible vehicle 2 and above the surface of the water.
The deep submersible vehicle 2 can be fixed on the left and right by providing lateral support means.
The side power type support assembly 5 in this embodiment includes a power telescopic assembly 6, a power roller 7 and a servo motor 8.
The fixed end of the power telescopic assembly 6 is vertically and fixedly connected with the left side face/right side face of the maintenance culvert 1;
because the outer cabin wall of the deep submersible vehicle 2 is not a straight surface parallel to the inner side surface of the maintenance culvert 1, the distance between the outer cabin wall of the deep submersible vehicle 2 and the maintenance culvert 1 can be changed in the process that the deep submersible vehicle 2 moves in the maintenance culvert 1, and therefore the position of the power roller 7 in the side supporting assembly is changed through the power telescopic assembly 6, so that the deep submersible vehicle can be better attached to the outer cabin wall of the deep submersible vehicle 2.
The power roller 7 is rotatably connected with the moving end of the power telescopic assembly 6, and the rolling direction of the power roller 7 is parallel to the axial direction of the deep submergence vehicle 2;
the servo motor 8 is fixedly connected with the moving end of the power telescopic assembly 6, and the power output end of the servo motor 8 is in power connection with the power input end of the power roller 7.
Because the power roller 7 is better attached to the outer cabin wall of the deep submersible vehicle 2, the power roller 7 can be driven to rotate by the servo motor 8, and because the power roller 7 is in contact with the outer cabin wall of the deep submersible vehicle 2, the deep submersible vehicle 2 can be driven to move back and forth in the maintenance culvert 1 under the action of friction force, and manual movement is not needed any more.
Although the servo motor 8 has a certain waterproof property, the lateral power type support unit 5 is provided above the water surface in the present embodiment in order to avoid damage in the water for a long time.
The lateral non-powered support assembly 4 in this embodiment includes a non-powered telescoping assembly 6 and a non-powered roller 7.
The fixed end of the non-power telescopic component 6 is vertically and fixedly connected with the left side surface/right side surface of the maintenance culvert 1;
the non-power roller 7 is rotatably connected with the moving end of the non-power telescopic assembly 6, and the rolling direction of the non-power roller 7 is parallel to the axial direction of the deep submergence vehicle 2.
Similar to the structure of the side power type supporting component 5, the side non-power type supporting component 4 changes the position of the non-power roller 7 by changing the length of the non-power telescopic component 6, so that the non-power roller 7 can be better contacted with the outer cabin wall of the deep submergence vehicle 2.
However, the lateral non-power type supporting component 4 is not provided with the servo motor 8, and only plays a supporting role, and the non-power roller 7 can roll freely.
The bottom non-powered support assembly 3 in this embodiment comprises a non-powered telescoping assembly 6 and a non-powered roller 7.
The fixed end of the non-power telescopic component 6 is vertically and fixedly connected with the lower side surface of the maintenance culvert 1;
The non-power roller 7 is rotatably connected with the moving end of the non-power telescopic assembly 6, and the rolling direction of the non-power roller 7 is parallel to the axial direction of the deep submergence vehicle 2.
Similar to the structure of the side non-power type supporting component 4, the position of the non-power roller 7 is changed by changing the length of the non-power telescopic component 6 through the bottom non-power type supporting component 3, so that the non-power roller 7 can be in contact with the bottom of the deep submergence vehicle 2 well, the height of the non-power roller can be changed according to the structure of the bottom of the deep submergence vehicle 2, and the damage to the outer cabin wall of the deep submergence vehicle 2 caused by the overlarge pressure of the non-power telescopic component 6 at a certain position is avoided.
However, the bottom non-power type supporting component 3 is not provided with the servo motor 8, and only plays a supporting role, and the non-power roller 7 can roll freely.
EXAMPLE III
In the second embodiment, the support and the small range of movement of the deep submersible vehicle 2 are realized, but if the deep submersible vehicle 2 is decelerated only by controlling the rotation speed of the servo motor 8, the deceleration distance process may be caused, or the servo motor 8 is damaged, so that the bottom non-powered type support component 3/the side non-powered type support component 4/the side powered type support component 5 in the second embodiment further comprises a brake system which adopts a mechanical disc brake to realize the rotation speed limitation of the non-powered roller 7 and the powered roller 7.
The braking system is fixedly connected with the moving end of the power telescopic component 6, and a braking position of the braking system is contacted with the power roller 7.
The braking system is also fixedly connected with the moving end of the non-power telescopic component 6, and the braking position of the braking system is contacted with the non-power roller 7.
The mounting method of the disc brake sheet is known to those skilled in the art and is not described in detail.
Example four
In the second embodiment, the lengths of the power telescopic assembly 6 and the non-power telescopic assembly 6 need to be controlled, and the second embodiment provides a structure that the power telescopic assembly 6/the non-power telescopic assembly 6 comprises an oil pump system, a positioning system and a hydraulic telescopic rod.
The oil pump system is arranged on the inner wall of the maintenance culvert 1 and can comprise a control valve, an oil pipe, an oil tank, an oil pump and the like.
The hydraulic telescopic rod is arranged in the maintenance culvert 1, an oil way of the hydraulic telescopic rod is communicated with the oil pump system, namely the hydraulic telescopic rod and the oil pump system form a hydraulic telescopic system, and hydraulic oil is controlled to enter the hydraulic telescopic rod through the oil pump, so that the length of the hydraulic telescopic rod can be controlled.
The positioning system is arranged on the inner side surface of the maintenance culvert 1 and is used for measuring the position of the deep submersible vehicle 2 in the maintenance culvert 1, and the signal end of the positioning system is electrically connected with the signal end of the oil pump system.
Can fix a position the position of deep-submerged ware 2 through positioning system, then can obtain the distance between the outer cabin wall of deep-submerged ware 2 and the medial surface of maintenance culvert 1 according to the position of deep-submerged ware 2, then can reach automatic control's purpose through the length of the timely control hydraulic telescoping rod of distance.
Namely, after the deep submersible vehicle 2 enters the maintenance culvert 1, the non-power type supporting components arranged at the bottom and the left and right side surfaces of the maintenance culvert 1 are sequentially lifted according to the advancing position of the deep submersible vehicle 2, and the non-power rollers 7 are contacted with the outer cabin wall of the deep submersible vehicle 2, so that the deep submersible vehicle 2 is basically fixed.
The lateral power support assembly 5 is then extended to bring the power rollers 7 into contact with the outer hull wall of the deep submersible vehicle 2 to further secure the deep submersible vehicle 2 and provide power thereto.
Those skilled in the art can select corresponding control software according to the requirement, and details are not repeated again.
EXAMPLE five
All the rollers in the above embodiment, namely the powered roller 7/the non-powered roller 7, are similar to an inflatable rubber wheel, and have larger elasticity through inflation, so that the impact on the outer cabin wall of the deep submergence vehicle 2 can be reduced as much as possible, and the outer cabin wall is prevented from being damaged.
The radian of the contact surface of the power roller 7/the non-power roller 7 and the deep submersible vehicle 2 and the shape arc line of the outer cabin wall of the deep submersible vehicle 2 are matched, and in order to ensure that the appearance of the deep submersible vehicle 2 is not affected, the driving wheel adopts rubber as a tire, and according to the arrangement position, the contact surface of the driving tire and the shape arc line of the appearance of the deep submersible vehicle 2 can be kept as consistent as possible, so that the contact area and the driving force are increased.
And pressure sensors are arranged in the power roller 7/the non-power roller 7, and the signal ends of the pressure sensors are electrically connected with the signal end of the oil pump system.
The pressure sensor can automatically feed back the real-time contact pressure of the inflation-like rubber wheels and the outer bulkhead of the deep submersible vehicle 2, and the contact pressure of each inflation-like rubber wheel and the deep submersible vehicle 2 is ensured not to exceed the allowable stress value of the outer bulkhead of the deep submersible vehicle 2 by dynamically adjusting the length of the driving device.
Example six
The embodiment provides a culvert 1 for repairing a deep submergence vehicle 2, which comprises a roller type traction device for culvert repairing of the deep submergence vehicle in the embodiment.
The distance between the inner side surface of the maintenance culvert 1 and the outer cabin wall of the deep submersible vehicle 2 is not more than 1m, and the diameter of the power roller 7/the non-power roller 7 is not more than 30 cm.
EXAMPLE seven
The embodiment provides a use method of the traction device of the fifth embodiment, which includes the following steps:
the deep submergence vehicle 2 is aligned with the maintenance culvert 1 and drives into the maintenance culvert 1.
The positioning system measures the position of the deep submersible vehicle 2 in the maintenance culvert 1, obtains the distance between the outer bulkhead of the deep submersible vehicle 2 and the maintenance culvert 1 according to the position, and ensures and guarantees that the non-power telescopic assembly 6 positioned in front of the deep submersible vehicle 2 is in a contraction state according to the distance so as to avoid the impact of the deep submersible vehicle 2.
After the positioning system detects that the deep submersible vehicle 2 has advanced to a certain non-power telescopic rod, the deep submersible vehicle does not generate impact, the non-power telescopic rod is controlled to extend through the oil pump system, and the non-power rollers 7 are all in contact with the outer cabin wall of the deep submersible vehicle 2, so that the deep submersible vehicle can play a role in supporting and positioning.
And the whole deep submergence vehicle 2 is driven into the maintenance culvert 1 step by step.
When the deep submersible vehicle 2 is about to be in place, the deep submersible vehicle needs to be decelerated, at the moment, a brake system of the non-power roller 7 is started, a brake pad applies acting force to the non-power roller 7, and finally the deep submersible vehicle 2 is decelerated and stopped;
in all the processes, the pressure sensors detect the air pressure in the non-power roller 7 in real time, when the air pressure is greater than a set upper limit value, the fact that the acting force of the non-power roller 7 on the outer cabin wall of the deep submergence vehicle 2 is large is proved, and in order to avoid damage to the deep submergence vehicle 2, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system.
In all the processes, the pressure sensors detect the air pressure in the non-power roller 7 in real time, and when the air pressure is smaller than a set lower limit value, the fact that the acting force of the non-power roller 7 on the outer cabin wall of the deep submersible vehicle 2 is small is proved, the function that the non-power roller 7 cannot support the deep submersible vehicle 2 possibly occurs, and the corresponding hydraulic telescopic rod is controlled to extend through the oil pump system.
After the deep submersible vehicle 2 is in place or when the deep submersible vehicle 2 needs to be moved, controlling the power telescopic rod to extend, and enabling the power rollers 7 to be in contact with the outer cabin wall of the deep submersible vehicle 2;
the servo motor 8 is controlled to drive the power roller 7 to rotate, and the front and back accurate movement of the deep submergence vehicle 2 is realized by controlling the positive rotation and the negative rotation of the servo motor 8.
The working principle of the pressure detector of the non-power roller 7 is the same, the pressure sensor detects the air pressure in the power roller 7 in real time, and when the air pressure is greater than a set upper limit value, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system; and when the air pressure is smaller than the set lower limit value, the corresponding hydraulic telescopic rod is controlled to extend through the oil pump system.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
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 at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.
Claims (8)
1. The utility model provides a roller type draw gear of deep diving ware culvert maintenance, its characterized in that, it sets up in the maintenance culvert, draw gear includes:
the bottom supporting device is provided with an upper end and a lower end, the bottom supporting device is vertically arranged in the maintenance culvert, and the lower end of the bottom supporting device is vertically and fixedly connected with the lower side surface of the maintenance culvert;
The side supporting device is provided with a first end and a second end, the side supporting device is horizontally arranged in the maintenance culvert, and the first end of the side supporting device is respectively and fixedly connected with the left side surface and the right side surface of the maintenance culvert in a vertical mode;
when the deep submersible vehicle enters the maintenance culvert, the bottom surface of the deep submersible vehicle is in contact with the upper end of the bottom supporting device, and the side surface of the deep submersible vehicle is in contact with the second end of the side supporting device;
the bottom support device comprises:
a plurality of bottom non-powered support assemblies distributed in a rectangular array on a lower side of the maintenance culvert;
the side support device comprises:
a plurality of lateral power support assemblies;
the side power type supporting assemblies and the side non-power type supporting assemblies are distributed on the left side surface and the right side surface of the maintenance culvert in a rectangular array mode, the side power type supporting assemblies are arranged on the water surface, and the side non-power type supporting assemblies are arranged under the water surface;
the side dynamic support assembly comprises:
the fixed end of the power telescopic component is vertically and fixedly connected with the left side face/the right side face of the maintenance culvert;
The power roller is rotatably connected with the moving end of the power telescopic assembly, and the rolling direction of the power roller is parallel to the axial direction of the deep submergence vehicle;
the servo motor is fixedly connected with the moving end of the power telescopic assembly, and the power output end of the servo motor is in power connection with the power input end of the power roller.
2. The roller type towing attachment for deep submergence vehicle culvert maintenance of claim 1 wherein the bottom non-powered support assembly/the side non-powered support assembly comprises:
the fixed end of the unpowered telescopic component is vertically and fixedly connected with the lower side surface/left side surface/right side surface of the maintenance culvert;
the non-power roller is rotatably connected with the moving end of the non-power telescopic assembly, and the rolling direction of the non-power roller is parallel to the axial direction of the deep submersible vehicle.
3. The roller type towing mechanism for deep submergence vehicle culvert maintenance of claim 2, wherein the bottom non-powered support assembly/the side powered support assembly further comprises:
the brake system is fixedly connected with the moving end of the power telescopic assembly, and a brake position of the brake system is in contact with the power roller;
And the braking system is also fixedly connected with the moving end of the non-power telescopic component, and a braking position of the braking system is in contact with the non-power roller.
4. A roller type towing attachment for deep submergence vehicle culvert maintenance according to claim 3 wherein the power/non-power telescoping assembly comprises:
the oil pump system is arranged on the inner wall of the maintenance culvert;
the positioning system is arranged on the inner side surface of the maintenance culvert and used for measuring the position of the deep submersible vehicle in the maintenance culvert, and a signal end of the positioning system is electrically connected with a signal end of the oil pump system;
and the hydraulic telescopic rod is arranged in the maintenance culvert, and an oil path of the hydraulic telescopic rod is communicated with the oil pump system.
5. The roller type traction device for deep submersible vehicle culvert maintenance according to claim 4, wherein the powered roller/the non-powered roller is an inflatable rubber wheel, and the radian of the contact surface of the powered roller/the non-powered roller and the deep submersible vehicle is matched with the arc of the shape of the outer cabin wall of the deep submersible vehicle;
and pressure sensors are arranged in the power roller/the non-power roller, and the signal ends of the pressure sensors are electrically connected with the signal end of the oil pump system.
6. A deep submersible culvert maintenance culvert comprising a roller type draft gear for deep submersible culvert maintenance as claimed in claim 5.
7. A deep submersible vehicle maintenance culvert according to claim 6 wherein the distance between the inside of the maintenance culvert and the outer tank wall of the deep submersible vehicle is no more than 1m, the diameter of the powered roller/the non-powered roller is no more than 30 cm.
8. A roller type traction method for deep submersible vehicle culvert maintenance is characterized in that based on the roller type traction device for deep submersible vehicle culvert maintenance of claim 7, the method comprises the following steps:
aligning the deep submergence vehicle to a maintenance culvert and driving into the maintenance culvert;
the positioning system measures the position of the deep submersible vehicle in the maintenance culvert;
obtaining the distance between the outer bulkhead of the deep submersible vehicle and the maintenance culvert;
the oil pump system controls the non-power telescopic rod to extend, and the non-power roller wheels are all contacted with the outer cabin wall of the deep submersible vehicle;
non-power roller braking;
the pressure sensor detects the air pressure in the non-power roller in real time, and when the air pressure is greater than a set upper limit value, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system; when the air pressure is smaller than a set lower limit value, the corresponding hydraulic telescopic rod is controlled to extend through an oil pump system;
After the deep submersible vehicle is in place or when the deep submersible vehicle needs to be moved, the power telescopic rod is controlled to extend, and the power rollers are all in contact with the outer cabin wall of the deep submersible vehicle;
controlling a servo motor to drive a power roller to rotate;
the pressure sensor detects the air pressure in the power roller in real time, and when the air pressure is greater than a set upper limit value, the corresponding hydraulic telescopic rod is controlled to be shortened through the oil pump system; and when the air pressure is smaller than the set lower limit value, the corresponding hydraulic telescopic rod is controlled to extend through the oil pump system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111254071.0A CN113859480B (en) | 2021-10-27 | 2021-10-27 | Roller type traction device and method for deep submersible vehicle culvert maintenance and maintenance culvert |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111254071.0A CN113859480B (en) | 2021-10-27 | 2021-10-27 | Roller type traction device and method for deep submersible vehicle culvert maintenance and maintenance culvert |
Publications (2)
| Publication Number | Publication Date |
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| CN113859480A CN113859480A (en) | 2021-12-31 |
| CN113859480B true CN113859480B (en) | 2022-08-12 |
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| CN202111254071.0A Active CN113859480B (en) | 2021-10-27 | 2021-10-27 | Roller type traction device and method for deep submersible vehicle culvert maintenance and maintenance culvert |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0558386A (en) * | 1991-08-29 | 1993-03-09 | Mitsubishi Heavy Ind Ltd | Submerged robot for culvert work |
| DE19902963A1 (en) * | 1999-01-26 | 1999-07-15 | Antonio Timm | Towing vehicle for people using rollers, balls or sliding bodies |
| US7134810B2 (en) * | 2002-02-22 | 2006-11-14 | Jennmar Corporation | Yieldable prop having a yield section |
| CN102628368B (en) * | 2012-04-26 | 2014-07-09 | 李信斌 | Tunnel self-advancing support shed |
| CN112482551A (en) * | 2020-11-23 | 2021-03-12 | 长安大学 | Movable culvert cleaning device and cleaning method |
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