CN115432148A - Automatic deep sea bottom-sitting support rod righting device and operation method - Google Patents
Automatic deep sea bottom-sitting support rod righting device and operation method Download PDFInfo
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- CN115432148A CN115432148A CN202211088682.7A CN202211088682A CN115432148A CN 115432148 A CN115432148 A CN 115432148A CN 202211088682 A CN202211088682 A CN 202211088682A CN 115432148 A CN115432148 A CN 115432148A
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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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
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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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
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Abstract
The automatic deep sea foundation support rod righting device comprises a sea bottom surface, a foundation support rod is inserted into the sea bottom surface, a dielectric film is sleeved outside the foundation support rod, the upper part and the lower part of the dielectric film are restrained and sealed in the vertical direction through a first rubber fastening ring and a second rubber fastening ring respectively, and a film cavity is formed inside the dielectric film between the first rubber fastening ring and the second rubber fastening ring; the rubber fastening ring is characterized by further comprising a circular ring supporting rod assembly, a circular ring rod is arranged above the circular ring supporting rod assembly, four supporting rods are uniformly inserted into the circular ring rod in the circumferential direction at intervals, the upper portions of the supporting rods are welded with the circular ring rod, and the lower portions of the supporting rods are inserted into the second rubber fastening ring; the bottom of the base supporting rod is provided with a base touch switch, and the upper part of the base touch switch is connected with the submersible vehicle body through an electric lead. The device can run in full sea depth, has low noise and fully automatic operation, and provides a new device and a new method for the safe setting of the deep sea submersible support rod.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment of deep sea submersible vehicles, in particular to an automatic deep sea bottom-sitting support rod righting device and an operation method.
Background
In deep sea exploration, a deep sea submersible is submerged to the deep sea floor without power and is inserted into a sandy sea floor by adopting a single rod. Under the action of ocean current disturbance, hydrodynamic force in the submergence process and the like, the supporting rod cannot be vertically inserted into the sea bottom, and a certain inclination angle is usually formed. The deflection of the strut can adversely affect the use of the device and needs to be eliminated by other measures. Furthermore, to increase the stability of the bed, resisting the turbulence of the sea currents, the depth of insertion into the sea bottom needs to be as great as possible. During the process that the submersible vehicle is resident on the seabed for a long time, the submersible vehicle is easily influenced by seabed undercurrent, the depth of inserting the submersible vehicle into the seabed is reduced, and the stability of the equipment sitting on the seabed is reduced. Therefore, the insertion depth needs to be re-centered and maintained, i.e., an automatic anti-disturbance function is required. In order to cope with high pressure in deep sea, submersible pressure tanks are often required to be smaller and thicker, and it is difficult for the pressure tanks to provide sufficient positive buoyancy. Thus, the submersible will typically have negative buoyancy under water. And the negative buoyancy of the submersible vehicle is too large, so that the submersible vehicle submerges at a too high speed, and the bottom-setting safety of the submersible vehicle is adversely affected. Therefore, it is highly desirable to provide a method for reducing the submergence speed.
In order to solve the above problems, the existing technical solutions have the following disadvantages:
the submergence speed is increased, the impact force of bottoming can be increased, and the insertion depth is increased. However, there is an increased risk of subfloor safety. The submergence speed is reduced, and a mode of increasing the buoyancy block to reduce the negative buoyancy can be adopted. However, the deep sea buoyancy block is expensive in manufacturing cost, and the construction cost is greatly increased. After bottoming, if mechanical structure is adopted to assist righting, the problems of deep sea pressure resistance, long-term stationing corrosivity and reliability can be solved. The scheme needs to adopt a deep sea motor and solves the problem of pressure resistance in an ultrahigh pressure environment, so that the manufacturing cost is high and the reliability is insufficient. If a gear rack structure is adopted, when the seabed sits, raised seabed silt can be added into gear gaps, and the possibility of silt blockage exists. The submersible vehicles have different deep submergence of the seat bottom, if the depth of the seat bottom is too large, the oil cylinder pushes the support rod to be righted by a very large thrust, the weight of the mechanical structure is large, and the load capacity of the submersible vehicle is weakened. If the mode of slowly righting by adopting the high-frequency vibration push rod requires frequent starting of a motor or a hydraulic source, noise can be generated, and the concealment of equipment is reduced. The automatic disturbance resistance in the long-term standby state needs to be provided with more sensors and mechanical equipment, and the system is complex and has poor reliability.
Therefore, there is an urgent need for a new device and method that can solve the above problems and achieve wide adaptability, simple structure, safety and reliability.
Disclosure of Invention
The applicant provides an automatic deep sea floor support rod righting device and an operation method aiming at the defects in the prior art, so that various problems in the prior art can be effectively solved, the working reliability is greatly improved, the full-automatic operation is convenient, and the noise is low.
The technical scheme adopted by the invention is as follows:
a deep sea foundation support rod automatic righting device comprises a sea floor, a foundation support rod is inserted into the sea floor, a dielectric film is sleeved outside the foundation support rod, the upper portion and the lower portion of the dielectric film are restrained and sealed in the vertical direction through a first rubber fastening ring and a second rubber fastening ring respectively, and a film cavity is formed inside the dielectric film between the first rubber fastening ring and the second rubber fastening ring; the rubber fastening ring is characterized by further comprising a circular ring supporting rod assembly, a circular ring rod is arranged above the circular ring supporting rod assembly, four supporting rods are uniformly inserted into the circular ring rod in the circumferential direction at intervals, the upper portions of the supporting rods are welded with the circular ring rod, and the lower portions of the supporting rods are inserted into the second rubber fastening ring; the bottom of the base supporting rod is provided with a base touch switch, and the upper part of the base touch switch is connected with the submersible vehicle body through an electric lead.
The further technical scheme is as follows:
the main body of the sitting bottom supporting rod is of a cylindrical structure, a flow channel is arranged in the vertical direction inside the sitting bottom supporting rod, an upper water flowing hole communicated with the side wall of the sitting bottom supporting rod is formed in the position above the flow channel, a lower water flowing hole is formed in the position of the bottom of the sitting bottom supporting rod, and a water-soluble solid plug is arranged at the position of the lower water flowing hole.
The upper drain hole is positioned inside the film cavity and close to the upper part.
Before submerging, light oil is filled in the film cavity and the support rod flow passage.
The dielectric film is in a ring-shaped structure after being unfolded.
The dielectric film is composed of five layers of materials, the dielectric material is arranged in the middle of the dielectric film, the upper end and the lower end of the dielectric material are respectively a first flexible electrode and a second flexible electrode, the outer layer of the first flexible electrode is a first protective film, and the outer layer of the second flexible electrode is a second protective film.
The outer diameter of the circular ring rod is larger than that of the second rubber fastening ring.
The structure of the bottom contact switch is as follows: including upper and lower interval fix a guide ring and No. two guide rings on sitting bottom branch, the welding has a spring between a guide ring and No. two guide rings, and the right-hand member of No. two guide rings is pasted and is had a magnet, the tip welding of a guide ring has the control box casing, be filled with insulating gas or liquid in the control box casing, the bottom is provided with the conducting strip in the control box casing, and No. two magnets are pasted on the conducting strip under through glue, and the polarity of a magnet and No. two magnets is opposite, is provided with No. two springs between No. two magnets and the interior top surface of control box casing, and speedtransmitter is installed in the outside of control box casing, install the controller in the control box casing, install the watertight connector on the control box casing.
The second guide ring slides up and down along the bottom seating support rod, and the conducting strip and the box body shell are made of conductive metal materials without magnetism.
An operation method of an automatic righting device for a deep sea bottom supporting rod.
As a further improvement of the above technical solution:
setting the insertion depth of the seat bottom supporting rod: adjusting the height of the control box shell on the bottom supporting rod, and setting the target depth of the bottom supporting rod inserted into the seabed;
then, the control parameter setting: the remote control device is communicated with the controller, and parameters in an automatic control program in the controller are set, wherein the parameters mainly comprise the following three parameters:
1. a maximum submergence speed Vm in the free submergence process;
2. the waiting time Tw for turning on the driving voltage again after the bottom is set to be generally 10 minutes;
3. in the process of inserting the auxiliary supporting rod for righting or piling, the stable duration Ts of the driving voltage is started once, the interval is also Ts, and the interval is usually set to be 5 minutes;
secondly, the equipment is filled with oil:
the device is inverted before launching, and light oil is poured into the device through a water flowing hole until the thin film cavity and the support rod flow passage are full of the light oil;
and a water-soluble solid plug 104 is plugged into the water flowing hole 103 to plug the outlet, so that light oil is prevented from leaking before water is drained.
Unpowered diving under the action of negative buoyancy;
the bottom-touching switch is in an on state in the submergence process;
after water is discharged, the water-soluble solid plug can be quickly dissolved, a water flowing hole is opened, the light oil is communicated with seawater, and the pressure is balanced; in the submergence process, the base support rod is basically in a vertical state; the density of the light oil is smaller than that of water, and the light oil is always in the flow channel and the film cavity under the action of positive buoyancy, so that the light oil continuously provides positive buoyancy for the submersible vehicle in the submergence process, the light oil is positioned above the submersible vehicle, the floating center of the submersible vehicle is improved, the stability is increased, and the base support rod can be inserted into the seabed in a vertical state;
with the increase of the submergence speed, the hydrodynamic force is gradually increased to push the film to turn upwards, the film is in an inverted cone shape and covers the upper circular support rod assembly;
B. the fixed speed diving function:
in the initial stage of diving, the diving speed is gradually increased until the speed is larger than the set maximum diving speed Vm, and when the controller senses the state through the speed sensor, the driving voltage of the dielectric film is increased, the dielectric film is promoted to stretch, the windward area is increased, the resistance is increased, the speed is reduced until the diving speed is reduced to Vm, and the speed is maintained to dive;
C. the process of automatically righting the supporting rod:
after the submersible vehicle sits on the bottom, the bottom supporting rod is inserted into the sea bottom and usually has a certain inclination, at the moment, the speed sensor measures that the speed suddenly drops to zero, and the controller is triggered to start an automatic righting program;
after the righting procedure is started, the controller can close the driving power supply of the dielectric film and open the dielectric film after Tw minutes, the dielectric film is power-off and flexible, naturally sags under the action of the negative buoyancy of the dielectric film and becomes a right vertical cone shape, then the controller intermittently opens the driving voltage for a plurality of times to make the bottom-seated support rod righting, the duration of a single opening of the driving voltage is Ts, and the righting process mainly comprises two processes:
a) A sand absorption and drag reduction process:
when the driving voltage is started, the dielectric film can stretch in equal proportion to cause the cavity to expand, negative pressure is formed inside the cavity, sediment water at the bottom of the cavity is sucked, sediment is deposited at the bottom of the cavity within the time Ts when the driving voltage is stable, light oil or clean seawater at the upper layer is provided, after the driving voltage is closed, the dielectric film can shrink and recover, liquid in the extrusion cavity flows into the seabed at the bottom of the sitting bottom support rod, and because the upper water flowing hole is positioned above the cavity, the light oil or water at the upper layer can be preferentially extruded into the lower part of the support rod during extrusion, the sediment amount at the bottom of the sitting bottom support rod is gradually reduced through multiple times of extrusion, the water content or oil content of the sediment at the bottom is also gradually increased, and the resistance of the supporting rod is finally reduced;
b) The process of shaking and righting the strut:
when the driving voltage is started, the dielectric film can stretch in equal proportion, the dielectric film is conical and is axially symmetrical about the bottom-sitting support rod, the lower part of the inclined side can firstly contact the sea bottom after stretching, and the dielectric film can push the sea bottom to generate a reaction force after stretching to push the bottom-sitting support rod to be righted to form single pushing;
after the bottom-sitting supporting rod is sucked and shaken for many times, the thrust required by the righting is greatly reduced, and the righting of the bottom-sitting supporting rod is promoted;
finally, the inclination of the bottom supporting rod is gradually reduced until the dielectric film on the other side is successfully seated, and the bottom supporting rod is vertical to the sea bottom, so that the righting work of the bottom supporting rod is realized;
D. automatically adjusting the depth of insertion into the sea floor:
after the support rod is righted, if the depth of the support rod inserted into the seabed is not enough, the grounding switch is not grounded, the circuit is still in an on state, the controller can continuously control the contraction and the extension of the dielectric film, and the support rod is promoted to be inserted into the seabed continuously, and the following two processes are specifically carried out:
a) A sand suction process:
the dielectric film extends to protrude outwards after being electrified, the pressure in the cavity is reduced, silt water at the bottom of the sitting bottom supporting rod is sucked into the cavity through the flow channel, the controller maintains the voltage for a period of time, silt in the cavity is waited to settle, the upper side of the cavity is relatively clear water or light oil, the controller changes the voltage, the dielectric film contracts and compresses the cavity, upper oil or water is squeezed into the bottom of the sitting bottom supporting rod, and through the above operations, silt at the bottom of the sitting bottom supporting rod is gradually reduced, the support of the sitting bottom supporting rod is gradually weakened, and the sitting bottom supporting rod is gradually submerged under the action of negative buoyancy of the submersible vehicle.
The lower conical film also synchronously stretches, the conical film pushes the seabed after stretching to form upward reverse thrust to the bottom support rod, the supporting force to the bottom support rod disappears after the conical film is loosened, and the bottom support rod sinks under the action of negative buoyancy, so that the lifting and sinking piling processes of the bottom support rod are formed, and the seabed bottom is effectively softened by piling for multiple times, so that the bottom support rod is convenient to pile and insert;
through multiple times of sand suction and piling, the insertion depth of the bottom supporting rod can be gradually increased, and the difficulty of inserting the bottom supporting rod by pressing once is avoided;
E. automatically triggering a standby process:
along with the increase of the insertion depth of the seat bottom supporting rod, the second guide ring at the bottom starts to touch the bottom, the second guide ring gradually moves upwards on the seat bottom supporting rod, the distance between the first magnet and the second magnet is reduced, the magnetic repulsion force pushes the second magnet to move upwards, the second magnet drives the conducting strip to leave the shell of the control box to suspend, the circuit is disconnected, the system is powered off for standby, and at the moment, the set insertion depth of the seat bottom supporting rod is reached;
F. collecting seabed sediment:
in the process of righting and pile driving insertion, the film cavity can be continuously and intermittently expanded and contracted to suck seabed sediment, clear water is sprayed out after sedimentation, collection of seabed sediment is achieved, the sediment is stored in the film cavity above the film cavity after bottom setting is finished, and the film cavity floats upwards along with the submersible vehicle after tasks are finished;
G. the automatic disturbance resisting function:
in the long-term residence seabed, the current disturbance can lead to sitting the depth that the bottom prop inserted the seabed and reduce, and this device can automatic anti-disturbance, resumes to vertical state and the original depth of insertion that sets for, and the concrete process is as follows:
once the bottom support rod is pulled upwards, the supporting force of the seabed on the circular ring disappears, the guide ring naturally droops under the action of gravity, the first magnet also droops along with the second guide ring, the distance between the first magnet and the second magnet is increased, the magnetic repulsion force on the second magnet is reduced, the second spring pushes the second magnet to drive the conducting strip to be pressed on the shell of the control box, the circuit is communicated at the moment, the dielectric film is driven by driving voltage to start righting and piling operation, and the system is closed to start standby after the bottom support rod is inserted to a set depth;
H. auxiliary bottom-off pulling-out process:
when the bottom supporting rod is pulled out from the bottom, negative pressure is formed below the bottom supporting rod to increase the bottom adsorption force, so that the bottom is difficult to separate, the bottom supporting rod is provided with an inner flow channel, the upper part of the bottom supporting rod is communicated into the film cavity, and when the bottom supporting rod is separated, water in the film cavity can be sucked below the bottom supporting rod through the flow channel to be filled and compensated, so that the adsorption force is greatly reduced, and the bottom supporting rod is convenient to separate from the bottom.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, actively controls when diving and setting the bottom by utilizing the characteristics of softness and electrified deformation of the dielectric body film, assists the support rod of the setting bottom to be vertically inserted into the sea bottom, increases the insertion depth and enhances the safety of the setting bottom. In the submerging process, the film turns upwards to be in an inverted cone shape, the effect of stabilizing the wing is achieved, and the submerging speed can be adjusted. After the base is seated, the film extends to support the supporting rod to be righted, and then the supporting rod is pushed to float and sink up and down to pile to increase the insertion depth. The concave cavity of the film stretches to form negative pressure, so that silt below the supporting rod is sucked out, and the insertion of the supporting rod is promoted. The righting and piling processes are carried out for a plurality of times in a small amplitude manner, and the required thrust is greatly reduced. When the support rod is inserted into a specific depth, the power can be automatically cut off for standby. During long-term residence, once the insertion depth of the device is reduced, the device is automatically triggered to return to the set depth. The device does not need external pressure, can run in full sea depth, has low noise and full automatic operation, and provides a new device and a new method for the safe setting of the deep sea submersible strut.
Meanwhile, the invention also has the following advantages:
(1) In the unpowered submerging process, the light oil bag is submerged, the stability is improved, and the vertical state can be maintained and the light oil bag is conveniently inserted into the seabed. The submergence velocity can be reduced allowing the apparatus to have more negative buoyancy. The automatic control realizes the constant speed dive.
(2) After the supporting rod is inserted into the seabed, the functions of righting and piling are automatically started, and the supporting rod is automatically closed after a set task is completed.
(3) The dielectric film is stretched for multiple times in a small range to realize the centering and the downward insertion of the supporting rod, so that the thrust requirement is greatly reduced, and the volume and the weight of the equipment are reduced.
(4) Need not to adopt deep sea motor or hydraulic equipment, eliminated main noise source, increase the disguise by a wide margin.
(5) In long-term residence, when the depth of the support rod inserted into the seabed is reduced, the device can be automatically started to maintain a vertical state and a certain insertion depth.
(6) Has no pressure resistance problem and is suitable for the whole sea depth.
(7) When the sea bottom leaves, the adsorption force of the sea bottom to the support rod is reduced.
Drawings
FIG. 1 is a schematic view of the present invention.
FIG. 2 is a schematic diagram of the structure of the dielectric film cavity of the present invention.
Figure 3 is a cross-sectional view of a bottom-seating leg of the present invention.
FIG. 4 is a partial schematic view (on state) of the bottom-touch switch of the present invention.
FIG. 5 is a partial schematic view (off state) of the bottom-touch switch of the present invention.
FIG. 6 is an expanded view of the film of the present invention.
FIG. 7 is a cross-sectional view of a membrane of the present invention.
Fig. 8 is a simplified schematic of the auto-righting process of the present invention.
Wherein:
0. sea floor surface;
1. a bottom-seating support rod;
101. a flow channel; 102. an upstream water hole; 103. a lower water flow hole; 104. a water-soluble solid plug;
2. a dielectric film;
2101. a first protective film; 2102. a second protective film;
2201. a first flexible electrode; 2202. a second flexible electrode;
23. a dielectric material;
3. a ring support rod assembly;
31. a circular ring rod; 32. a support bar; 33. a second rubber fastening ring;
4. a bottom-touching switch;
4101. a first guide ring; 4102. a second guide ring;
42. fastening a nut;
4301. a first spring; 4302. a second spring;
4401. a first magnet; 4402. a magnet II;
45. a control box housing; 46. a conductive sheet; 47. a controller; 48. a watertight connector; 49. a speed sensor; 410. a signal line;
5. a first rubber fastening ring;
an electrical lead system:
61. a first electrical lead; 62. a second electrical lead; 63. a third electrical lead; 64. a fourth electrical lead; 65. a fifth electrical lead;
7. a film cavity;
8. a submersible vehicle body;
the submersible body comprises a pressure-resistant cabin, a battery, a detection device and the like.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-8, the deep sea bottom strut self-righting device of the present embodiment includes a sea floor 0, a bottom strut 1 is inserted into the sea floor 0, a dielectric film 2 is sleeved outside the bottom strut 1, the upper portion and the lower portion of the dielectric film 2 are vertically constrained and sealed by a first rubber fastening ring 5 and a second rubber fastening ring 33, respectively, and a film cavity 7 is formed inside the dielectric film 2 between the first rubber fastening ring 5 and the second rubber fastening ring 33; the support device is characterized by further comprising a circular support rod assembly 3, a circular rod 31 is arranged above the circular support rod assembly 3, four support rods 32 are uniformly inserted into the circular rod 31 at intervals in the circumferential direction, the upper portions of the support rods 32 are welded with the circular rod 31, and the lower portions of the support rods 32 are inserted into a second rubber fastening ring 33; the bottom of the base supporting rod 1 is provided with a base touch switch 4, and the upper part of the base touch switch 4 is connected with a submersible vehicle body 8 through an electric lead.
The main body of the base support rod 1 is of a cylindrical structure, a flow channel 101 is arranged in the vertical direction inside the base support rod 1, an upper water flowing hole 102 communicated with the side wall of the base support rod 1 is arranged above the flow channel 101, a lower water flowing hole 103 is arranged at the bottom of the base support rod 1, and a water-soluble solid plug 104 is arranged at the lower water flowing hole 103.
The upper water flow hole 102 is located inside and close to above the membrane chamber 7.
Before submerging, the diaphragm chamber 7 and the strut flow passage 101 are filled with light oil.
The dielectric film 2 is formed in a ring shape after being developed.
The dielectric film 2 is composed of five layers of materials, a dielectric material 23 is arranged in the middle, the upper end and the lower end of the dielectric material 23 are respectively a first flexible electrode 2201 and a second flexible electrode 2202, the outer layer of the first flexible electrode 2201 is a first protective film 2101, and the outer layer of the second flexible electrode 2202 is a second protective film 2102.
The outer diameter of the ring rod 31 is larger than that of the second rubber fastening ring 33.
The structure of the bottom-touching switch 4 is as follows: including upper and lower interval fixation No. one guide ring 4101 and No. two guide ring 4102 on seat bottom branch 1, the welding has a spring 4301 between a guide ring 4101 and No. two guide ring 4102, no. two magnet 4401 have been pasted to the right-hand member of guide ring 4102, the end welding of a guide ring 4101 has control box casing 45, be filled with insulating gas or liquid in the control box casing 45, the bottom is provided with conducting strip 46 in the control box casing 45, no. two magnet 4402 paste on conducting strip 46 down through glue, the polarity of a magnet 4401 and No. two magnet 4402 is opposite, be provided with No. two spring 4302 between No. two magnet 4402 and the interior top surface of control box casing 45, speedtransmitter 49 is installed in the outside of control box casing 45, install controller 47 in the control box casing 45, install watertight connector 48 on the control box casing 45.
The second guiding ring 4102 slides up and down along the bottom supporting rod 1, and the conducting strip 46 and the control box shell 45 are made of conductive non-magnetic metal materials.
The operation method of the automatic deep sea bottom support rod righting device of the embodiment.
Setting the insertion depth of the seat bottom support rod 1: adjusting the height of the control box shell 45 on the bottom supporting rod 1, and setting the target depth of the bottom supporting rod 2 inserted into the seabed;
then, the control parameter setting: the parameters in the automatic control program in the controller 47 are set by communicating with the controller 47 through a remote control device, and the parameters mainly include the following three parameters:
1. a maximum submergence speed Vm in the free submergence process;
2. the waiting time Tw for turning on the driving voltage again after the bottom is set to be 10 minutes in general;
3. in the process of inserting the auxiliary supporting rod for righting or piling, the stable duration Ts of the driving voltage is started once, the interval is also Ts, and the interval is usually set to be 5 minutes;
secondly, the equipment is filled with oil:
before launching, the device is inverted, and light oil is poured into the device through the lower water flow hole 103 until the thin film cavity 7 and the support rod flow passage 101 are filled;
the water-soluble solid plug 104 is plugged into the lower water flow hole 103 to plug the outlet, so that light oil is prevented from leaking before water is drained.
Unpowered diving under the action of negative buoyancy;
the bottom-touching switch 4 is in an on state in the submergence process;
after the water is drained, the water-soluble solid plug 104 can be quickly dissolved, the lower water flowing hole 103 is opened, the light oil is communicated with the seawater, and the pressure is balanced; in the submergence process, the base support rod 1 is basically in a vertical state; the density of light oil is less than that of water, and the light oil is always positioned in the flow channel 101 and the film cavity 7 under the action of positive buoyancy, so that the light oil continuously provides positive buoyancy for the submersible vehicle in the submergence process, the light oil is positioned above the submersible vehicle, the floating center of the submersible vehicle is improved, the stability is increased, and the base support rod 1 can be inserted into the seabed in a vertical state;
with the increase of the submergence speed, the hydrodynamic force is gradually increased to push the film to turn upwards, the film is in an inverted cone shape and covers the upper circular support rod component 3;
B. the fixed speed diving function:
in the initial stage of the submergence, the submergence speed is gradually increased until the submergence speed is greater than the set maximum submergence speed Vm, and when the controller 47 senses the state through the speed sensor 49, the driving voltage of the dielectric film 2 is increased, the dielectric film 2 is promoted to stretch, the windward area is increased, the resistance is increased, the speed is reduced until the submergence speed is reduced to Vm, and the speed submergence is maintained;
C. the process of automatically righting the supporting rod:
after the submersible vehicle is seated, the seat bottom strut 1 is inserted into the sea bottom and usually has a certain inclination, at the moment, the speed sensor 49 measures that the speed suddenly drops to zero, and the controller 47 is triggered to start an automatic righting program;
after the righting procedure is started, the controller 47 will close the driving power supply of the dielectric film 2 and open after Tw minutes, during which the dielectric film 2 is soft when power is cut off and naturally sags under the action of the negative buoyancy of the dielectric film 2, and becomes a right standing cone shape, and thereafter, the controller 47 intermittently opens the driving voltage many times to make the bottom supporting rod 1 righting, the duration of a single opening of the driving voltage is Ts, and the righting process mainly comprises two processes:
a) A sand absorption and drag reduction process:
when the driving voltage is started, the dielectric film 2 can stretch in equal proportion to cause the film cavity 7 to expand, negative pressure is formed inside the cavity, sediment water at the bottom of the cavity is sucked, sediment is deposited at the bottom of the cavity within the time Ts when the driving voltage is stable, light oil or clarified seawater at the upper layer is provided, after the driving voltage is turned off, the dielectric film 2 can shrink and recover, liquid in the extrusion cavity flows into the seabed at the bottom of the sitting bottom support rod, and as the upper water flowing hole 102 is positioned above the cavity, the light oil or water at the upper layer can be preferentially extruded into the lower part of the support rod during extrusion, the sediment amount at the bottom of the sitting bottom support rod 1 is gradually reduced through multiple times of extrusion, the water content or oil content of sediment at the bottom is also gradually increased, and the resistance of the supporting rod is finally reduced;
b) The process of shaking and righting the strut:
when the driving voltage is started, the dielectric film 2 can stretch in equal proportion, the dielectric film 2 is conical and is axisymmetric about the pedestal support rod 1, the lower part of the inclined side can firstly contact with the seabed after stretching, and the dielectric film 2 can push the seabed to generate a reaction force after stretching to push the pedestal support rod 1 to be righted to form single pushing;
after sand is sucked and the bottom-sitting support rod 1 is shaken for multiple times, the thrust required by righting is greatly reduced, and the righting of the bottom-sitting support rod 1 is promoted;
finally, the inclination of the bottom supporting rod 1 is gradually reduced until the dielectric film 2 on the other side successfully sits on the bottom, and the bottom supporting rod 1 is vertical to the sea bottom, so that the righting work of the bottom supporting rod 1 is realized;
D. automatically adjusting the depth of insertion into the seabed:
after the centering, if the depth of the bottom-seated support rod 1 inserted into the sea bottom is not enough, the bottom-touching switch 4 does not touch the bottom, the circuit is still in the on state, the controller 47 will continuously control the contraction and extension of the dielectric film 2, and promote the bottom-seated support rod 1 to continue to be inserted into the sea bottom, specifically, the following two processes are performed:
a) A sand suction process:
The lower conical film also synchronously stretches, the conical film pushes the seabed after stretching to form upward reverse thrust to the sitting bottom support rod 1, the supporting force to the sitting bottom support rod 1 disappears after the conical film is loosened, and the sitting bottom support rod 1 sinks under the action of negative buoyancy, so that the lifting and sinking piling processes of the sitting bottom support rod 1 are formed, and the seabed substrate is effectively softened by piling for multiple times, so that the sitting bottom support rod 1 can be conveniently piled and inserted;
through sand suction and piling for many times, the insertion depth of the base support rod 1 can be gradually increased, and the difficulty of inserting the base support rod 1 by pressing once is avoided;
E. automatically triggering a standby process:
along with the increase of the insertion depth of the seat bottom strut 1, the second guide ring 4102 at the bottom starts to touch the bottom, the second guide ring 4102 gradually moves upwards on the seat bottom strut 1, the distance between the first magnet 4401 and the second magnet 4402 is reduced, the magnetic repulsion force pushes the second magnet 4402 to move upwards, the second magnet 4402 drives the conducting strip 46 to leave the control box shell 45 for suspension, the circuit is disconnected, the system is powered off for standby, and at the moment, the set insertion depth of the seat bottom strut 1 is reached;
F. collecting seabed sediment:
in the process of righting and pile driving insertion, the film cavity 7 can be continuously and intermittently expanded and contracted to suck seabed sediment, clear water is sprayed out after sedimentation, collection of seabed sediment is achieved, the sediment is stored in the film cavity 7 above after the bottom setting is finished, and the film cavity floats upwards along with the submersible vehicle after the task is finished;
G. the automatic disturbance resisting function:
in the long-term residence seabed, the current disturbance can lead to sitting bottom branch 1 and insert the degree of depth reduction in the seabed, and this device can automatic anti-disturbance, resumes to vertical state and the original depth of insertion that sets for, and the concrete process is as follows:
once the bottom bearing rod 1 is pulled upwards, the supporting force of the seabed to the ring disappears, the second guide ring 4102 naturally droops under the action of gravity, the first magnet 4401 also droops along with the second guide ring 4102, the distance between the first magnet 4401 and the second magnet 4402 is increased, the magnetic repulsion force to the second magnet 4402 is reduced, the second spring 4302 pushes the second magnet 4402 to drive the conducting strip 46 to press on the control box shell 45, the circuit is connected at the moment, the dielectric film 2 is acted by driving voltage to start righting and piling operation, and the system is closed to start standby after the bottom bearing rod 1 is inserted to the set depth;
H. auxiliary bottom-off pulling-out process:
when pulling out from the end and sitting bottom branch 1, sit bottom branch 1 below and can form the negative pressure and increase and leave end adsorption affinity, lead to leaving end difficulty, sit bottom branch 1 and have the interior runner, in the membrane cavity 7 was put through to the top, when leaving the end, the water in the membrane cavity 7 can be inhaled through runner 101 and sit bottom branch 1 below and fill the compensation, reduces the adsorption affinity by a wide margin, is convenient for leave the end.
The automatic deep sea bottom support rod righting device has the following specific structure and functions:
the device mainly comprises a seat bottom supporting rod 1, a dielectric film 2, a circular ring supporting rod component 3, a bottom touch switch 4, a first rubber fastening ring 5, an electric lead system and the like.
Wherein the bottom supporting rod 1:
the main body of the base supporting rod 1 is a cylinder, a semi-ellipsoid convex body is arranged below the main body, a flow channel 101 is arranged in the base supporting rod, an upper water flowing hole 102 is arranged at the middle upper part, and a lower water flowing hole 103 is arranged at the bottom of the base supporting rod. A water-soluble solid plug 104 is used to plug the lower water flow hole 103 before the water is drained. The water-soluble solid plug 104 is insoluble in light oil in the flow passage of the strut, can be dissolved in water rapidly, and does not generate gas.
Dielectric film 2:
the dielectric film 2 is annular after being unfolded, is sleeved on the base support rod 1, and is restrained and sealed in the vertical direction through the first rubber fastening ring 5 and the second rubber fastening ring 33. Therefore, a closed film cavity 7 is formed between the two, and the upper water flow hole 102 is positioned in the film cavity 7 and close to the upper part. Before submerging, the film cavity 7 and the support rod flow passage 101 are filled with light oil. During submergence, the light oil provides positive buoyancy. Light oils are required to be insoluble in water, low in viscosity, non-corrosive, and less dense than water, such as gasoline (density 0.74 g/ml).
The dielectric film 2 is composed of five layers of materials, a dielectric material 23 in the middle, and a first protective film 2101 and a second protective film 2102 in the outermost layers, and a first flexible electrode 2201 and a second flexible electrode 2202 in the middle. The second electric lead 62 and the third electric lead 63 penetrate into the flexible electrode through the protective film due to the input of the driving voltage. The dielectric material 23 is deformed by an electric field force, and the thickness is reduced and the area is expanded. The first protective film 2101 and the second protective film 2102 have elasticity and negative buoyancy, and the whole film 2 is underwater negative buoyancy.
Ring support bar assembly 3:
the circular ring support rod assembly 3 is composed of a circular ring rod 31, four support rods 32 and a second rubber fastening ring 33. The support rod 32 is welded to the ring rod 31 at the upper part and inserted into the second rubber fastening ring 33 at the lower part.
An electrical lead system:
the electric lead system consists of a first electric lead 61, a second electric lead 62, a third electric lead 63, a fourth electric lead 64 and a fifth electric lead 65 and is used for transmitting electric power.
The first electric lead 61 and the third electric lead 63 are connected to the main power supply of the submersible vehicle, and the polarities of the first electric lead and the third electric lead are opposite. The fourth electric lead 64 is connected to the third electric lead 63.
The first electric lead 61 and the third electric lead 63 both enter the lower part of the membrane 2 through the gap between the membrane 2 and the bottom-seated support rod 1 and are connected to the bottom switch 4.
An electrical conductor 61 passes through the watertight connector 48 into the control box housing 45 and is connected to the controller 47.
The watertight connector 48 is embedded in the control box housing 45.
The lower part of the controller 47 is welded on the conducting strip 46, the voltage of the controller 47 is directly output to the conducting strip 46, and the controller 47 is connected in series to the circuit to control the magnitude of the voltage.
The fifth electric lead 65 is connected to the first electric lead 61, and the fifth electric lead 65 and the fourth electric lead 64 are connected to the speed sensor 49 for supplying electric power. The speed sensor 49 collects the speed of the submersible vehicle, and the speed sensor is transmitted to the controller 47 in the control box shell 45 through a signal line 410 for feedback of speed signals, and the signal line 410 is also sealed through a watertight connector 48.
The watertight connector 48 is made of a non-metallic material and can transmit radio signals.
A bottom-touching switch 4:
the first guide ring 4101 is fixed on the seat bottom strut 1 through a fastening nut 42, the first spring 4301 and the control box shell 45 are welded on the first guide ring 4101, and the second guide ring 4102 is sleeved on the seat bottom strut 1 and can freely slide up and down, but the upper part of the second guide ring 4102 is welded on the first spring 4301, so that the second guide ring is restrained and in a suspension state. The first magnet 4401 is adhered to the right side of the second guide ring 4102, insulating gas or liquid is filled in the control box shell 45, the second magnet 4402 is adhered to the lower conducting strip 46 through glue, and the conducting strip 46 and the control box shell 45 are made of conductive metal materials without magnetism. The adjacent faces of the first magnet 4401 and the second magnet 4402 have opposite polarities and have mutually exclusive thrust. No. two electric wires 62 connect on control box casing 45, and No. two springs 4302 are welded to control box casing 45 above, and the below bonds on No. two magnet 4402.
The controller 47 is a multi-function module connected in series to the circuit for adjusting the driving voltage of the thin film. Controller 47 is in series with bottom-contact switch 4, both of which are required to turn on dielectric film 2 simultaneously to receive the driving voltage. The controller 47 has a radio communication function, and the watertight connector 48 can be used as a radio channel. Before the dive, the modification of the parameters of the controller 47 can be carried out by means of radio signals. The controller 47 stores a constant-speed diving control program and a bottom-setting righting piling control program, and triggers automatic activation according to the speed of the submersible vehicle.
In the actual use process:
preparation work before diving:
first, the insertion depth of the seat bottom strut 1 is set: and adjusting the fastening nut 42 to adjust the height of the control box shell 45 on the bottom supporting rod 1 and set the target depth of the bottom supporting rod 2 inserted into the seabed.
Then, the control parameter setting: the parameters in the automatic control program in the controller 47 are set by communicating with the controller 47 through a dedicated remote control device, and the parameters mainly include the following three parameters:
1. a maximum submergence speed Vm in the free submergence process;
2. the waiting time Tw for turning on the driving voltage again after the bottom is set to be generally 10 minutes;
3. the settling time period Ts, also interval Ts, of a single turn-on drive voltage during the erection or piling accessory strut insertion is typically set to 5 minutes.
Secondly, the equipment is filled with oil:
before launching, the device is inverted, and light oil is poured into the device through the lower water flowing hole 103 until the thin film cavity 7 and the support rod flow passage 101 are filled.
The water-soluble solid plug 104 is plugged into the lower water flow hole 103 to plug the outlet, so that light oil is prevented from leaking before water is drained.
(II) speed setting function in the diving process:
A. at the initial stage of free submergence:
after being thrown from the mother ship, the submersible can dive without power under the action of negative buoyancy.
The bottom-touching switch 4 is in an on state in the diving process.
After the water is drained, the water-soluble solid plug 104 can be quickly dissolved, the lower water flowing hole 103 is opened, the light oil is communicated with the seawater, and the pressure is balanced. During submergence, the struts are in a substantially vertical position. The light oil is less dense than water and is always in the flow channel and the film cavity 7 under the action of positive buoyancy. Therefore, during submergence, the light oil continuously provides positive buoyancy to the submergence device. The light oil is arranged above the submersible vehicle, so that the floating center of the submersible vehicle is improved, the stability is increased, and the support rod can be inserted into the seabed in a vertical state.
With the increase of the submergence speed, the hydrodynamic force is gradually increased to push the film to turn upwards, take the shape of an inverted cone and cover the upper circular support rod assembly 3, as shown in fig. 5. The support bar 32 supports the membrane 2 from deformation. The inverted conical membrane is positioned above the submersible vehicle and plays a role of a stabilizing wing. Both can increase roll, pitch damping, restrain the latent ware and rock, also can increase the dynamic stability of latent ware, promote the branch vertical dive.
B. The fixed speed diving function:
in the initial stage of the submergence, the submergence speed is gradually increased until it becomes greater than the set maximum submergence speed Vm. When this state is sensed by the speed sensor 49, the controller 47 increases the driving voltage of the film, promotes the stretching of the film 2, increases the frontal area, increases the resistance, and decreases the speed until the submergence speed decreases to Vm, and maintains the submergence speed.
C. The process of automatically righting the supporting rod:
after the submersible vehicle is bottomed, the bottom prop 1 is inserted into the sea floor with a certain inclination. At this point, the speed sensor 49 measures a sudden drop in speed to zero, thereby triggering the controller 47 to initiate the auto-righting sequence.
After the righting procedure is initiated, the controller 47 will turn off the power to drive the membranes and turn on after Tw minutes. During this period, the film 2 is softened when the power is cut off, and naturally sags under the action of the negative buoyancy of the film 2, and becomes a right-standing cone shape. Thereafter, the controller 47 intermittently turns on the driving voltage for a plurality of times to cause the strut to be straightened, and the duration of a single turn on of the driving voltage is Ts. The righting process mainly consists of 2 processes:
a) A sand absorption and drag reduction process:
when the driving voltage is started, the film 2 can stretch in equal proportion, so that the film cavity 7 is expanded, negative pressure is formed inside the cavity, and the sediment water at the sea bottom is sucked. And in the time Ts when the driving voltage is stable, the silt is deposited at the bottom of the cavity, and the upper layer is light oil or clarified seawater. After the driving voltage is turned off, the film can shrink and recover, and liquid in the cavity is squeezed to flow into the seabed at the bottom of the bottom-sitting support rod. Since the upper drain hole 102 is located above the cavity, light oil or water at the upper layer is preferentially extruded into the lower part of the support rod during extrusion. Through repeated extrusion, the sediment amount at the bottom of the supporting rod is gradually reduced, the water content or oil content of the sediment at the bottom is also gradually increased, and finally the resistance of the righting supporting rod is reduced.
b) The process of shaking and righting the strut:
when the driving voltage is turned on, the film 2 is stretched in equal proportion. The membrane 2 is conical and is axisymmetric about the anchor strut 1, and after elongation will cause the lower part of the inclined side to contact the sea floor first. After the membrane 2 is stretched, the seabed is pushed to generate reaction force, the supporting rod is pushed to be righted, and single pushing is formed, as shown in fig. 6. If the supporting rod cannot be righted once, the film 2 can automatically protrude outwards to release stress, so that the film is prevented from being damaged.
After the supporting rod is sucked and shaken for many times, the thrust required by the supporting rod is greatly reduced, and the supporting rod is promoted to be supported.
Finally, the inclination of the support rod is gradually reduced until the film on the other side successfully sits on the bottom, and the support rod is perpendicular to the sea bottom, so that the support rod is righted.
D. Automatically adjusting the depth of insertion into the sea floor:
after the support rod is righted, if the depth of the support rod inserted into the seabed is not enough, the bottom contact switch 4 does not contact the bottom, and the circuit is still in an on state. The controller 47 will continue to control the contraction and elongation of the membrane 2, facilitating continued insertion of the rod into the seabed. The method specifically comprises the following 2 processes:
a) A sand suction process:
the film 2 stretches and protrudes outwards after being electrified, the pressure in the film cavity 7 is reduced, and silt water at the bottom of the support rod is sucked into the film cavity 7 through the flow channel 101. The controller 47 maintains the voltage for a period of time, and after the sediment in the membrane chamber 7 is settled, the clear water or light oil is above the water. The controller 47 changes the voltage, the membrane 2 contracts, the membrane cavity 7 is compressed, and the upper layer of oil or water is squeezed into the bottom of the bottom-seated support rod 1. Through the above operations, the sediment at the bottom of the bottom supporting rod 1 is gradually reduced, the support for the bottom supporting rod 1 is gradually weakened, and the bottom supporting rod 1 is gradually submerged under the action of the negative buoyancy of the submersible vehicle.
b) Piling:
the film 2 is continuously stretched under the control of the driving voltage, and the lower conical film is also stretched synchronously. After the conical thin film 2 is stretched, the seabed is pushed, and upward reverse thrust to the bottom supporting rod 1 is formed. After the conical film is relaxed, the supporting force for the sitting bottom supporting rod 1 disappears, and the sitting bottom supporting rod 1 sinks under the action of negative buoyancy. Therefore, a piling process of lifting and sinking the supporting rod is formed, and the seabed substrate is effectively softened by piling for multiple times, so that the bottom-sitting supporting rod 1 can be conveniently piled and inserted.
Through sucking sand and piling many times, can be step-by-step increase sit the depth of insertion of end branch 1, avoided once pressing the degree of difficulty of sitting end branch 1 male.
E. Automatically triggering a standby process:
as the depth of insertion of the bottom struts 1 increases, the bottom second guiding ring 4102 begins to bottom. The second guiding ring 4102 gradually moves upwards on the bottom supporting rod 1, the distance between the first magnet 4401 and the second magnet 4402 is reduced, and the magnetic repulsive force pushes the second magnet 4402 to move upwards. The second magnet 4402 drives the conducting strip 46 to leave the control box shell 45 for suspension, the circuit is disconnected, and the system is powered off and stands by. At this point, the set depth of insertion into the seafloor is reached.
F. Collecting seabed bottom materials:
in the process of righting and inserting the pile, the film cavity 7 can be continuously and intermittently expanded and contracted to suck seabed sediment, and clear water is sprayed out after sedimentation, so that the collection of the seabed sediment is realized. After the bottom is seated, silt is stored in the film cavity 7 above the bottom, and floats upwards along with the submersible vehicle after the task is finished.
G. The automatic disturbance resisting function:
in the long-term residence seabed, the depth of the bottom-sitting support rod 1 inserted into the seabed is reduced due to ocean current disturbance, and the device can automatically resist disturbance and recover to the vertical state and the originally set insertion depth. The specific process is as follows:
once the bottom-sitting support rod 1 is pulled upwards, the supporting force of the seabed to the ring disappears, the second guide ring 4102 naturally droops under the action of gravity, the first magnet 4401 also droops along with the second guide ring 4102, the distance between the first magnet 4401 and the second magnet 4402 is increased, and the magnetic repulsion force to the second magnet 4402 is reduced. The second spring 4302 pushes the second magnet 4402 to drive the conducting strip 46 to press the control box shell 45, and the circuit is connected at the moment. The dielectric film 2 is applied with a driving voltage to start the centering and piling operations until the pedestal support rod 1 is inserted to a set depth, and then the system is turned off to start standby.
H. Auxiliary bottom-off pulling-out process:
when the bottom-sitting support rod 1 is pulled out from the bottom, negative pressure is formed below the support rod 1 to increase the adsorption force from the bottom, so that the bottom is difficult to separate. The device support rod 1 is provided with an inner flow channel, and the upper part of the device support rod is communicated with the film cavity 7. When the film cavity body 7 is separated from the bottom, water in the film cavity body 7 can be sucked below the supporting rod 1 through the flow channel 101 for filling compensation, so that the adsorption force is greatly reduced, and the film cavity body is convenient to separate from the bottom.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides an automatic righting device of deep sea seat bottom branch, includes seabed face (0), its characterized in that: a bottom supporting rod (1) is inserted into the sea bottom surface (0), a dielectric film (2) is sleeved outside the bottom supporting rod (1), the upper part and the lower part of the dielectric film (2) are restrained and sealed in the vertical direction through a first rubber fastening ring (5) and a second rubber fastening ring (33), and a film cavity (7) is formed inside the dielectric film (2) between the first rubber fastening ring (5) and the second rubber fastening ring (33); the rubber fastening ring is characterized by further comprising a circular ring supporting rod assembly (3), circular ring rods (31) are arranged above the circular ring supporting rod assembly (3), four supporting rods (32) are evenly inserted into the circular ring rods (31) at intervals in the circumferential direction, the upper portions of the supporting rods (32) are welded with the circular ring rods (31), and the lower portions of the supporting rods (32) are inserted into a second rubber fastening ring (33); the bottom of the base supporting rod (1) is provided with a base touch switch (4), and the upper part of the base touch switch (4) is connected with a submersible vehicle body (8) through an electric lead.
2. The deep sea submersible prop centralizer of claim 1, wherein: the main body of the sitting bottom supporting rod (1) is of a cylindrical structure, a flow channel (101) is arranged in the vertical direction inside the sitting bottom supporting rod (1), an upper water flowing hole (102) communicated with the side wall of the sitting bottom supporting rod (1) is formed above the flow channel (101), a lower water flowing hole (103) is formed in the bottom of the sitting bottom supporting rod (1), and a water-soluble solid plug (104) is arranged at the lower water flowing hole (103).
3. The deep sea submersible strut centralizer according to claim 2 wherein: the upper water flow hole (102) is positioned inside the film cavity (7) and close to the upper part.
4. The deep sea submersible strut centralizer according to claim 2 wherein: before submerging, light oil is filled in the film cavity (7) and the support rod flow passage (101).
5. The deep sea submersible prop centralizer of claim 1, wherein: the dielectric film (2) is in a circular ring-shaped structure after being unfolded.
6. The deep sea submersible prop centralizer of claim 1, wherein: the dielectric film (2) is composed of five layers of materials, a dielectric material (23) is arranged in the middle of the dielectric film, the upper end and the lower end of the dielectric material (23) are respectively a first flexible electrode (2201) and a second flexible electrode (2202), the outer layer of the first flexible electrode (2201) is a first protective film (2101), and the outer layer of the second flexible electrode (2202) is a second protective film (2102).
7. The deep sea submersible prop centralizer of claim 1, wherein: the outer diameter of the circular ring rod (31) is larger than that of the second rubber fastening ring (33).
8. The deep sea submersible prop centralizer of claim 1, wherein: the structure of the bottom contact switch (4) is as follows: fix a guide ring (4101) and No. two guide rings (4102) on seat bottom branch (1) including upper and lower interval, the welding has a spring (4301) between a guide ring (4101) and No. two guide rings (4102), and magnet (4401) has been pasted to the right-hand member of No. two guide rings (4102), the tip welding of a guide ring (4101) has control box casing (45), be equipped with insulating gas or liquid in control box casing (45), the bottom is provided with conducting strip (46) in control box casing (45), and magnet (4402) are pasted on conducting strip (46) under through glue, and the polarity of magnet (4401) and magnet (4402) is opposite, is provided with No. two spring (4302) between the top surface in magnet (4402) and control box casing (45), and speedtransmitter (49) are installed to the outside of control box casing (45), install controller (47) in control box casing (45), install connector (48) on the watertight.
9. The deep sea submersible prop centralizer assembly of claim 8, wherein: the second guide ring (4102) slides up and down along the bottom support rod (1), and the conducting strip (46) and the box body shell (45) are made of conductive non-magnetic metal materials.
10. An operation method of the deep sea floor support rod automatic righting device is characterized in that:
the method comprises the following operation steps:
preparation work before diving:
firstly, the insertion depth of the bottom-seated support rod (1) is set: adjusting the height of the control box shell (45) on the bottom supporting rod (1), and setting the target depth of the bottom supporting rod (2) inserted into the seabed;
then, the control parameter setting: the remote control device is communicated with the controller, and parameters in an automatic control program in the controller are set, wherein the parameters mainly comprise the following three parameters:
1. a maximum submergence speed Vm in the free submergence process;
2. the waiting time Tw for turning on the driving voltage again after the bottom is set to be generally 10 minutes;
3. in the process of inserting the auxiliary supporting rod for righting or piling, the stable duration Ts of the driving voltage is started once, the interval is also Ts, and the interval is usually set to be 5 minutes;
secondly, the equipment is filled with oil:
before launching, the device is inverted, and light oil is poured through a water flowing hole (103) until the thin film cavity (7) and the support rod runner (101) are filled;
a water-soluble solid plug 104 is plugged into the water flowing hole 103 to plug the outlet, so that light oil before water is drained is prevented from leaking; (II) speed setting function in the diving process:
A. at the initial stage of free submergence:
after being thrown from the mother ship, the submersible vessel can dive without power under the action of negative buoyancy;
the bottom-touching switch is in an on state in the submergence process;
after launching, the water-soluble solid plug (104) can be quickly dissolved, the water flowing hole (103) is opened, the light oil is communicated with the seawater, and the pressure is balanced; in the submerging process, the base supporting rod (1) is basically in a vertical state; the density of light oil is less than that of water, and the light oil is always positioned in the flow channel and the film cavity (7) under the action of positive buoyancy, so that the light oil continuously provides positive buoyancy for the submersible vehicle in the submergence process, the light oil is positioned above the submersible vehicle, the floating center of the submersible vehicle is improved, the stability is increased, and the vertical state of the base support rod (1) can be maintained to be inserted into the seabed; with the increase of the submergence speed, the hydrodynamic force is gradually increased to push the film to turn upwards to present an inverted cone shape and cover the circular ring support rod component (3) above;
B. the fixed speed diving function:
in the initial stage of diving, the diving speed is gradually increased until the speed is larger than the set maximum diving speed Vm, when the controller (47) senses the state through the speed sensor (49), the driving voltage of the dielectric film (2) is increased, the extension of the dielectric film (2) is promoted, the windward area is increased, the resistance is increased, the speed is reduced until the diving speed is reduced to Vm, and the speed diving is maintained;
C. the process of automatically righting the supporting rod:
after the submersible vehicle is seated, the seating prop (1) is inserted into the sea floor and usually has a certain inclination, at the moment, the speed sensor (49) measures that the speed suddenly drops to zero, and the controller (47) is triggered to start an automatic righting program;
after the righting procedure is started, the controller (47) closes the driving power supply of the dielectric film (2) and opens after Tw minutes, the dielectric film (2) is powered off and flexible, and naturally sags under the action of the negative buoyancy of the dielectric film (2) and becomes a right standing cone shape, and then the controller (47) intermittently opens the driving voltage for multiple times to make the sitting bottom support rod (1) righted, the duration of a single opening of the driving voltage is Ts, and the righting process mainly comprises two processes:
a) A sand absorption and drag reduction process:
when a driving voltage is started, the dielectric film (2) can stretch in equal proportion to cause the cavity (7) to expand, negative pressure is formed in the cavity to suck seabed sediment water, sediment is deposited at the bottom of the cavity within a time Ts when the driving voltage is stable, light oil or clean seawater is arranged at the upper layer, after the driving voltage is closed, the dielectric film (2) can contract and recover, liquid in the extrusion cavity flows into the seabed at the bottom of the sitting bottom supporting rod, and because the upper water flowing hole (102) is positioned above the cavity, the light oil or water at the upper layer can be preferentially extruded into the lower part of the supporting rod during extrusion, the sediment amount at the bottom of the sitting bottom supporting rod (1) is gradually reduced, the water content or oil content of the sediment at the bottom is also gradually increased through multiple times of extrusion, and the resistance of the righting supporting rod is finally reduced;
b) The process of shaking and righting the strut:
when a driving voltage is started, the dielectric film (2) can stretch in equal proportion, the dielectric film (2) is conical and is axially symmetrical about the bottom supporting rod (1), after stretching, the lower part of the inclined side can firstly contact the seabed, and after stretching, the dielectric film (2) can push the seabed to generate a reaction force to push the bottom supporting rod (1) to be righted to form single push;
after the bottom sitting support rod (1) is sucked and shaken for many times, the thrust required by righting is greatly reduced, and the righting of the bottom sitting support rod (1) is promoted;
finally, the inclination of the bottom supporting rod (1) is gradually reduced until the dielectric film (2) on the other side is successfully seated, and the bottom supporting rod (1) is vertical to the sea bottom, so that the righting work of the bottom supporting rod (1) is realized; D. automatically adjusting the depth of insertion into the sea floor:
after the righting, if the depth of the base support rod (1) inserted into the seabed is not enough, the bottom contact switch (4) does not contact the bottom, the circuit is still in an open state, the controller (47) can continuously control the contraction and the extension of the dielectric film (2) to promote the base support rod (1) to be continuously inserted into the seabed, and the following two processes are carried out:
a) A sand suction process:
the dielectric film (2) stretches and protrudes outwards after being electrified, the pressure in the cavity (7) is reduced, silt water at the bottom of the sitting bottom supporting rod (1) is sucked into the cavity (7) through the flow channel (101), the controller maintains the voltage for a period of time, clear water or light oil is arranged above the cavity (7) after silt in the cavity is settled, the controller (47) changes the voltage, the dielectric film (2) shrinks, the cavity (7) is compressed, upper layer oil or water is squeezed into the bottom of the sitting bottom supporting rod (1), through the above operations, silt at the bottom of the sitting bottom supporting rod (1) is gradually reduced, the support for the sitting bottom supporting rod (1) is gradually weakened, and the sitting bottom supporting rod (1) is gradually submerged under the action of negative buoyancy of the submersible vehicle;
b) Piling:
the dielectric film (2) continuously stretches under the control of driving voltage, the conical film below the dielectric film also stretches synchronously, the conical film pushes the seabed after stretching to form upward reverse thrust to the sitting bottom support rod (1), the supporting force to the sitting bottom support rod (1) disappears after the conical film looses, and the sitting bottom support rod (1) sinks under the action of negative buoyancy, so that the piling processes of lifting and sinking of the sitting bottom support rod (1) are formed, and the seabed substrate is effectively softened by piling for multiple times, so that the sitting bottom support rod (1) can be conveniently inserted by piling; through sand suction and piling for many times, the insertion depth of the bottom supporting rod (1) can be gradually increased, and the difficulty of inserting the bottom supporting rod (1) by pressing once is avoided;
E. automatically triggering a standby process:
along with the increase of the insertion depth of the seat bottom strut (1), the second guide ring (4102) at the bottom starts to touch the bottom, the second guide ring (4102) gradually moves upwards on the seat bottom strut (1), the distance between the first magnet (4401) and the second magnet (4402) is reduced, the magnetic repulsion force pushes the second magnet (4402) to move upwards, the second magnet (4402) drives the conducting strip (46) to leave the control box shell (45) to suspend, the circuit is disconnected, the system is powered off for standby, and at the moment, the set insertion depth of the seat bottom strut is reached;
F. collecting seabed bottom materials:
in the process of righting and inserting the pile, the film cavity (7) can be continuously and intermittently expanded and contracted to suck seabed sediment, clear water is sprayed out after sedimentation, the collection of the seabed sediment is realized, the sediment is stored in the film cavity (7) above after the bottom setting is finished, and the film cavity floats upwards along with the submersible vehicle after the task is finished;
G. the automatic disturbance resisting function:
in the long-term residence seabed, the current disturbance can lead to sitting bottom branch (1) to insert the degree of depth reduction in the seabed, and this device can automatic anti-disturbance, resumes to vertical state and the original depth of insertion that sets for, and the concrete process is as follows:
once the bottom bearing rod (1) is pulled upwards, the supporting force of the seabed to the ring disappears, the guide ring (4102) naturally droops under the action of gravity, the first magnet (4401) also droops along with the second guide ring (4102), the distance between the first magnet and the second magnet (4402) is increased, the magnetic repulsion force to the second magnet (4402) is reduced, the second spring (4302) pushes the second magnet (4402) to drive the conducting strip (46) to be pressed on the control box shell (45), at the moment, the circuit is communicated, the dielectric film (2) is acted by driving voltage to start righting and piling operation, and the system is closed to start standby after the bottom bearing rod (1) is inserted to a set depth;
H. auxiliary bottom-off pulling-out process:
when pulling out from the bottom and sitting bottom branch (1), sit bottom branch (1) below and can form the negative pressure and increase and leave bottom adsorption affinity, lead to leaving the bottom difficulty, sit bottom branch (1) and have the interior runner, in membrane cavity (7) was put through to the top, when leaving the bottom, the water in membrane cavity (7) can be inhaled and sit bottom branch (1) below through runner (101) and fill the compensation, reduces the adsorption affinity by a wide margin, is convenient for leave the bottom.
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