CN114459818A - Active liquid precise compensation device and method for deep sea pressure maintaining sampler - Google Patents
Active liquid precise compensation device and method for deep sea pressure maintaining sampler Download PDFInfo
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Abstract
The invention relates to a pressure-maintaining sampling pressure compensation technology, and aims to provide an active liquid precise compensation device and method for a deep sea pressure-maintaining sampler. The device comprises a mechanical transmission system, a hydraulic system and a control system; the mechanical transmission system comprises at least three groups of driving mechanisms, each driving mechanism consists of a motor, a reduction gearbox and a screw nut assembly, the hydraulic system comprises piston pressure cylinders, the number of the piston pressure cylinders is matched with that of the screw nut assemblies, and pistons in the pressure cylinders have different radial sizes; one side of the piston is communicated with seawater, and the other side of the piston is connected with the cavity of the sampler through a pressure guiding pipe to maintain pressure; the control system comprises a singlechip and a pressure sensor. The invention solves the problems of low compensation speed, low precision and poor safety in a pressure compensation mode of using a gas accumulator, can provide reference basis for realizing the method design of the pressure compensation device of the deep sea pressure maintaining sampler, and is used for designing and deeply researching pressure compensation methods of various containers in different environments.
Description
Technical Field
The invention relates to a pressure-maintaining sampling pressure compensation technology, in particular to an active liquid accurate compensation device and method for a pressure-maintaining sampler in a deep-sea high-pressure environment.
Background
During the recovery of the sampler from deep sea, the pressure inside the sampler may be reduced due to pressure difference changes, temperature changes, sample leakage, etc. The pressure change may cause the deep sea organisms to be inactivated and even damaged due to the huge change of the living environment. Therefore, the pressure holding sampling technique is an indispensable technique in the undersea sampling technique.
In current sampling devices, passive or active pressure compensation techniques are typically used that pre-charge the high pressure gas with a gas accumulator. However, the extremely high pressure in the deep sea environment reduces the volume of the fluid available for the gas, resulting in a slow compensation speed, a difficult control of the pressure compensation process, low accuracy, and reduced safety.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides an active liquid precise compensation device and method for a deep sea pressure maintaining sampler.
In order to solve the technical problem, the solution of the invention is as follows:
the active liquid precise compensation device for the deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; the mechanical transmission system comprises at least three groups of driving mechanisms, each driving mechanism consists of a motor, a reduction gearbox and a screw nut assembly and is used for converting the rotation action of the motor into the axial displacement action of a screw; the hydraulic system comprises pressure cylinders the number of which is matched with that of the screw rod nut assemblies; pistons are arranged in the chambers of the pressure cylinders, and the pistons in the pressure cylinders have different radial sizes; one end of the piston is provided with a piston rod which is connected with the corresponding screw rod; the piston rod is in clearance fit with the cylinder body of the pressure cylinder, and seawater can enter a cavity on one side of the piston rod; the other side of the piston is a closed chamber which is connected with the sampler cavity through a pressure guiding pipe and is used for maintaining pressure; the control system comprises a single chip microcomputer and a pressure sensor, wherein the pressure sensor is arranged on the cavity of the sampler and used for detecting the internal pressure of the sampler, and the single chip microcomputer is connected with the pressure sensor and each motor in the mechanical transmission system through signal lines to realize control; and the power supply is respectively connected with the single chip microcomputer and each motor in the mechanical transmission system through cables so as to realize power supply.
As the preferred scheme of the invention, the mechanical transmission system, the hydraulic system and the single chip microcomputer are encapsulated in a pressure maintaining sealing cavity, and a watertight socket is arranged on the cavity; and the cable connected with the power supply and the signal wire connected with the pressure sensor are respectively connected to the pressure-maintaining sealing cavity through watertight connectors.
As the preferred scheme of the invention, the device also comprises a remote computer or a local starting switch which is connected to the singlechip through a signal wire.
In a preferred embodiment of the present invention, the power supply is a storage battery provided locally to the sampling device or a power supply device provided on the mother ship.
As the preferred scheme of the invention, the motor is provided with a power interface and a speed controller, wherein the power interface is connected with a power supply through a cable, and the speed controller is connected with the singlechip through a signal wire.
As a preferable scheme of the invention, the pressurizing cylinders are three, and the radial sizes of the pistons are 40mm, 30mm and 20mm respectively.
In a preferable embodiment of the present invention, the pressure sensor has a measurement range of 0 to 120MPa and a pressure measurement accuracy of 0.01 MPa.
As the preferable scheme of the invention, the singlechip is an STM32 singlechip.
As a preferable scheme of the invention, the pressure boosting cylinder comprises a cylinder body, a cylinder cover and a piston; the piston is arranged in a cylinder body with openings at two ends, the end part of a piston rod of the piston is fixedly connected with the end part of a screw rod in the driving mechanism, and a cylinder cover is fixed at one end of the cylinder body opposite to the piston rod in a threaded connection mode; the side walls of the piston and the cylinder cover are provided with annular grooves, and O-shaped sealing rings are embedded in the grooves to realize sealing; the cylinder cover is fixedly provided with a pipe joint in a threaded connection mode and is provided with a through hole penetrating through the pipe joint and the cylinder cover; one end of the pressure guiding pipe is connected to the cavity of the sampler, and the other end of the pressure guiding pipe is connected to the pipe joint and is connected with the cylinder body through a through hole in the cylinder cover.
The invention further provides a method for realizing active liquid accurate compensation of the deep sea pressure maintaining sampler based on the device, which comprises the following steps:
(1) the method comprises the following steps of (1) lowering a sampler to a deep sea sampling point with a specified water depth by using an underwater robot, and performing sampling operation according to a conventional flow; after sampling is finished, the sampler cavity and the cavity of the pressure cylinder on one side of the piston rod are filled with high-pressure seawater, so that the pressures on two sides of the piston are kept balanced;
(2) before the sampler is recovered, activating the singlechip by using a remote computer or a local starting switch; measuring the in-situ pressure value of the sampling point by using a pressure sensor, transmitting the data to a single chip microcomputer and recording the data as reference pressure Pref；
(3) In the recovery process of the sampler, the pressure sensor continuously detects the real-time pressure value P of the cavity of the sampler and transmits the real-time pressure value P to the single chip microcomputer; the singlechip calculates the difference P-P between the real-time pressure value and the reference pressurerefStarting the pressure cylinders in different levels according to different sizes of the difference values; when the difference is large, a pressure cylinder with a large radial size of the piston is preferably started to reduce the pressure difference as soon as possible; when the difference is small, a pressure cylinder with a small radial size of the piston is preferably started to realize accurate adjustment;
(4) in the adjusting process, the single chip microcomputer performs PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the screw rod nut assembly is driven by the selected motor to drive the corresponding piston to perform linear displacement motion, and high-pressure liquid on the other side of the piston is driven to move into the sampler cavity through the pressure guiding pipe, so that the pressure lost due to the increase of water depth in the sampler cavity is compensated;
(5) and (4) continuously repeating the steps (3) and (4) in the process of recovering the sampler, so that the pressure in the cavity of the sampler is always kept near the reference pressure.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides an active liquid precise compensation device and method for a deep sea pressure maintaining sampler, solves the problems of low compensation speed, low precision and poor safety in a pressure supplementing mode of a gas accumulator, and can provide a reference basis for the design of a pressure compensation device method for realizing the deep sea pressure maintaining sampler.
(2) The active liquid accurate pressure compensation method provided by the invention specifically comprises the steps of obtaining a pressure difference value, setting a multi-stage pressure cylinder and setting the movement speed of a hydraulic rod; therefore, the method can be used for designing and deeply researching various container pressure compensation methods under different environments.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a mechanical block diagram of a single booster cylinder;
fig. 3 is a mechanical structural view of the multistage booster cylinder.
In the figure: 1, a remote computer; 2, a power supply; 3, a motor; 4, a reduction gearbox; 5, a screw nut component; 6 a third-stage pressure cylinder; 7, a second-stage pressurizing cylinder; 8, a first-stage pressure cylinder; 9, a sampler cavity; 10 a pressure sensor; 11 single chip microcomputer; 12, a pressure guiding pipe; 13 pipe joints; 14, a cylinder cover; 15 a first O-ring seal; 16 cylinder bodies; 17 a second O-ring seal; 18 a piston rod; 19 an annular groove; 20 pressurizing a cylinder cavity; 21 a first threaded hole; 22 a second threaded hole.
Detailed Description
The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way.
The numbering of the components as such, for example "first", "second", etc., in this application is used solely to distinguish between the objects depicted and not to imply any order or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the invention, a power supply, a control end computer, a motor, a reduction box, a screw nut driving mechanism, an O-shaped sealing ring, a pressure sensor, an STM32 single chip microcomputer, a pressure guiding pipe and a pipe joint can be purchased from products sold in the market. And parts such as the three-stage pressure cylinder and the like can be processed according to actual requirements.
As shown in the figure, the active liquid precise compensation device for the deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; wherein the content of the first and second substances,
the mechanical transmission system comprises three groups of driving mechanisms, each driving mechanism consists of a motor 3, a reduction box 4 and a screw nut component 5 and is used for converting the rotation action of the motor 3 into the axial displacement action of the screw; the motor 11 is provided with a power interface and a speed controller, the former is connected with the power supply 2 through a cable, and the latter is connected with the singlechip 11 through a signal wire.
The hydraulic system comprises pressure cylinders the number of which is matched with that of the screw nut assemblies 5; pistons are arranged in the chambers of the pressure cylinders, and the pistons in the pressure cylinders have different radial sizes, as shown in fig. 1, the radial sizes of the pistons in the third-stage pressure cylinder 6, the second-stage pressure cylinder 7 and the first-stage pressure cylinder 8 are reduced in sequence. A piston rod 18 is arranged at one end of the piston, and the piston rod 18 is connected with the corresponding screw rod; the piston rod 18 is in clearance fit with the cylinder body 16 of the pressure cylinder, and seawater can enter a cavity on one side of the piston rod 18; the other side of the piston is a closed chamber which is connected with the sampler cavity 9 through a pressure guiding pipe for maintaining pressure. The booster cylinder comprises a cylinder body 16, a cylinder cover 14 and a piston; the piston is arranged in a cylinder body 16 with openings at two ends, the end part of the piston rod is fixedly connected with the end part of a screw rod in the driving mechanism, and the cylinder cover 14 is fixed at one end of the cylinder body 16 opposite to the piston rod 18 in a threaded manner; an annular groove is formed in the side walls of the piston and the cylinder cover 14, and an O-shaped sealing ring is embedded in the groove to realize sealing; the cylinder cover 14 is fixedly provided with the pipe joint 13 in a threaded manner and is provided with a through hole penetrating through the pipe joint 13 and the cylinder cover 14; the pressure guiding pipe 12 is connected to the sampler chamber 9 at one end and to the pipe joint 13 at the other end, and is connected to the cylinder 16 through a through hole in the cylinder cover 14.
The control system comprises a singlechip 11 and a pressure sensor 10, the pressure sensor 10 is arranged on the sampler cavity 9 and used for detecting the internal pressure of the sampler cavity, and the singlechip 11 is connected with the pressure sensor 10 and each motor 3 in the mechanical transmission system through signal lines to realize control; the singlechip 11 is also connected to the remote computer 1 or a local starting switch arranged on the sampling device through a signal wire.
The power supply 2 is respectively connected with the single chip microcomputer 11 and each motor 3 in the mechanical transmission system through cables to realize power supply. The power source 1 may be a battery provided locally to the sampling device or a power supply provided on the mother ship.
In order to adapt to the deep sea high-pressure environment, a mechanical transmission system, a hydraulic system and a single chip microcomputer 11 are packaged in a pressure maintaining sealing cavity, and a watertight socket is arranged on the cavity; and a cable connected with the power supply 2 and a signal wire connected with the pressure sensor 10 are respectively connected to the pressure-maintaining sealing cavity through watertight connectors. The remote computer 1 can be arranged on a mother ship and is connected to the pressure maintaining sealing cavity through a submarine cable; the local starting switch can be directly embedded on the outer wall of the pressure maintaining sealing cavity, and the opening and closing are realized by the touch of a manipulator of the underwater robot.
The method for realizing the active liquid accurate compensation of the deep sea pressure maintaining sampler by using the device comprises the following steps:
(1) the method comprises the following steps of (1) lowering a sampler to a deep sea sampling point with a specified water depth by using an underwater robot, and performing sampling operation according to a conventional flow; after sampling is finished, the sampler cavity 9 and the pressurizing cylinder cavity on one side of the piston rod 18 are filled with high-pressure seawater, so that the pressures on the two sides of the piston are kept balanced;
(2) before the sampler is recovered, the remote computer 1 or a local starting switch is used for activating the singlechip 11; the pressure sensor 10 is used for measuring the in-situ pressure value of the sampling point, the data is transmitted to the singlechip 11 and recorded as the reference pressure Pref；
(3) In the recovery process of the sampler, the pressure sensor 10 continuously detects the real-time pressure value P of the sampler cavity 9 and transmits the real-time pressure value P to the singlechip 11; the singlechip 11 calculates the difference P-P between the real-time pressure value and the reference pressurerefStarting the pressure cylinders in different levels according to different sizes of the difference values; when the difference is large, a pressure cylinder with a large radial size of the piston is preferably started to reduce the pressure difference as soon as possible; when the difference is small, a pressure cylinder with a small radial size of the piston is preferably started to realize accurate adjustment;
(4) in the adjusting process, the single chip microcomputer 11 carries out PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the selected motor 3 drives the screw-nut component 5 to drive the corresponding piston to perform linear displacement motion, and high-pressure liquid on the other side of the piston is driven to move into the sampler cavity 9 through the pressure guiding pipe 12, so that the pressure lost due to the reduction of water depth in the sampler cavity 9 is compensated;
(5) and (3) continuously repeating the steps (3) and (4) in the process of recovering the sampler, so that the pressure in the sampler cavity 9 is always kept near the reference pressure.
More detailed examples of the implementation are described below:
as shown in fig. 1 to 3, the feed screw nut driving mechanism 5 includes three sets of driving mechanisms, and the radial sizes of the pistons in the third stage pressure cylinder 6, the second stage pressure cylinder 7 and the first stage pressure cylinder 8 are 40mm, 30mm and 20mm respectively. The measurement range of the pressure sensor 10 is 0-120MPa, and the measurement precision is 0.01 MPa. The singlechip 11 can be STM32-F103 series models or above. The side walls of the cylinder cover and the piston are provided with annular grooves, and a first O-shaped sealing ring 15 and a second O-shaped sealing ring 17 are respectively nested in the annular grooves.
The active liquid precise compensation method for the deep-sea sampling cylinder comprises the following steps:
(1) the sampler is placed to a specified depth by using external equipment, and the cavity 9 of the sampler and the cavity 20 of the pressure cylinder are filled with high-pressure liquid at the moment, the pressure sensor 10 is used for measuring and obtaining the in-situ pressure of the sampling depth, and the singlechip 11 is used for recording the numerical value of the in-situ pressure as the reference pressure Pref(ii) a After the sampling operation is completed, the sampler is closed and recovery is started.
(2) In the recovery process, a pressure sensor 10 is used for measuring in real time to obtain a real-time pressure value P in the cavity 9 of the sampler, the real-time pressure value is transmitted into the singlechip 11, and the singlechip 11 calculates the difference (P-P) between the real-time pressure value and a reference pressure valueref). Starting the pressure cylinders of different levels according to different sizes of the difference values; such as P-PrefThe pressure of more than or equal to 5MPa, and a three-level pressure cylinder 6 is started; e.g. 1MPa<P-Pref<Starting a secondary pressure cylinder 7 under the pressure of 5 MPa; such as P-PrefThe pressure of the first-stage pressure cylinder 8 is less than or equal to 1 MPa.
(3) PID control is carried out on the difference value between the real-time pressure value and the reference pressure value by utilizing the singlechip 11, a motor rotating speed value n based on the current difference value is obtained through calculation, the motor 3 drives the screw nut component 5 to drive the piston rod 18 to carry out linear displacement motion, and the piston rod 18 obtains a moving speed v towards the cavity 20;
(4) by utilizing the movement speed v of the piston rod 18, the high-pressure liquid in the pressurizing cylinder cavity 20 moves into the sampler cavity 9 through the pressure guiding pipe 12, and the loss pressure is compensated because the high-pressure liquid is pressed into the sampler cavity 9;
(5) and (3) continuously repeating the steps (2) to (4) in the recovery process of the sampler cavity 9, so that the pressure in the sampler cavity 9 is maintained at a value near the reference pressure.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. The accurate compensation of the pressure in the sampling cylinder under different environments can be realized by adjusting the number of the pressure cylinders, adjusting the inner diameter of each stage of pressure cylinder, changing a control algorithm and the like. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (10)
1. An active liquid precise compensation device for a deep sea pressure maintaining sampler comprises a mechanical transmission system, a hydraulic system and a control system; wherein the content of the first and second substances,
the mechanical transmission system comprises at least three groups of driving mechanisms, each driving mechanism consists of a motor, a reduction box and a screw nut assembly and is used for converting the rotation action of the motor into the axial displacement action of the screw;
the hydraulic system comprises pressure cylinders the number of which is matched with that of the screw rod nut assemblies; pistons are arranged in the chambers of the pressure cylinders, and the pistons in the pressure cylinders have different radial sizes; one end of the piston is provided with a piston rod which is connected with the corresponding screw rod; the piston rod is in clearance fit with the cylinder body of the pressure cylinder, and seawater can enter a cavity on one side of the piston rod; the other side of the piston is a closed chamber which is connected with the sampler cavity through a pressure guiding pipe and is used for maintaining pressure;
the control system comprises a single chip microcomputer and a pressure sensor, wherein the pressure sensor is arranged on the cavity of the sampler and used for detecting the internal pressure of the sampler, and the single chip microcomputer is connected with the pressure sensor and each motor in the mechanical transmission system through signal lines to realize control;
and the power supply is respectively connected with the single chip microcomputer and each motor in the mechanical transmission system through cables so as to realize power supply.
2. The device of claim 1, wherein the mechanical transmission system, the hydraulic system and the single chip microcomputer are packaged in a pressure maintaining sealed cavity, and a watertight socket is arranged on the cavity; and the cable connected with the power supply and the signal wire connected with the pressure sensor are respectively connected to the pressure-maintaining sealing cavity through watertight connectors.
3. The device of claim 1, further comprising a remote computer or a local start switch connected to the single-chip microcomputer via a signal line.
4. The apparatus of claim 1, wherein the power source is a battery located locally to the sampling device or a power supply located on the mother vessel.
5. The device of claim 1, wherein the motor has a power interface connected to a power source through a cable and a speed controller connected to the single chip microcomputer through a signal line.
6. The apparatus of claim 1 wherein there are three said booster cylinders and the pistons have radial dimensions of 40mm, 30mm and 20mm respectively.
7. The device of claim 1, wherein the pressure sensor measures in the range of 0-120MPa with a pressure measurement accuracy of 0.01 MPa.
8. The apparatus of claim 1, wherein the single chip microcomputer is an STM32 single chip microcomputer.
9. The apparatus of claim 1, wherein the booster cylinder comprises a cylinder block, a cylinder head, and a piston; the piston is arranged in a cylinder body with openings at two ends, the end part of a piston rod of the piston is fixedly connected with the end part of a screw rod in the driving mechanism, and a cylinder cover is fixed at one end of the cylinder body opposite to the piston rod in a threaded connection mode; the side walls of the piston and the cylinder cover are provided with annular grooves, and O-shaped sealing rings are embedded in the grooves to realize sealing; the cylinder cover is fixedly provided with a pipe joint in a threaded connection mode and is provided with a through hole penetrating through the pipe joint and the cylinder cover; one end of the pressure guiding pipe is connected to the cavity of the sampler, and the other end of the pressure guiding pipe is connected to the pipe joint and is connected with the cylinder body through a through hole in the cylinder cover.
10. Method for the active liquid precision compensation of a deep sea dwell sampler using a device according to any of claims 1 to 9, characterized in that it comprises the following steps:
(1) the method comprises the following steps of (1) lowering a sampler to a deep sea sampling point with a specified water depth by using an underwater robot, and performing sampling operation according to a conventional flow; after sampling is finished, the cavity of the sampler and the cavity of the pressure cylinder on one side of the piston rod are filled with high-pressure seawater, so that the pressures on two sides of the piston are kept balanced;
(2) before the sampler is recovered, activating the singlechip by using a remote computer or a local starting switch; measuring the in-situ pressure value of the sampling point by using a pressure sensor, transmitting the data to a single chip microcomputer and recording the data as reference pressure Pref；
(3) In the recovery process of the sampler, the pressure sensor continuously detects the real-time pressure value P of the cavity of the sampler and transmits the real-time pressure value P to the single chip microcomputer; the singlechip calculates the difference P-P between the real-time pressure value and the reference pressurerefStarting the pressure cylinders in different levels according to different sizes of the difference values; when the difference is large, a pressure cylinder with a large radial size of the piston is preferably started to reduce the pressure difference as soon as possible; when the difference is small, a pressure cylinder with a small radial size of the piston is preferably started to realize accurate adjustment;
(4) in the adjusting process, the single chip microcomputer performs PID control according to the difference value between the real-time pressure value and the reference pressure to obtain the motor rotating speed based on the current difference value; the screw rod nut assembly is driven by the selected motor to drive the corresponding piston to perform linear displacement motion, and high-pressure liquid on the other side of the piston is driven to move into the sampler cavity through the pressure guiding pipe, so that the pressure lost due to the increase of water depth in the sampler cavity is compensated;
(5) and (4) continuously repeating the steps (3) and (4) in the process of recovering the sampler, so that the pressure in the cavity of the sampler is always kept near the reference pressure.
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