CN1986329A - Double spherical shell docking apron - Google Patents
Double spherical shell docking apron Download PDFInfo
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- CN1986329A CN1986329A CN 200610151169 CN200610151169A CN1986329A CN 1986329 A CN1986329 A CN 1986329A CN 200610151169 CN200610151169 CN 200610151169 CN 200610151169 A CN200610151169 A CN 200610151169A CN 1986329 A CN1986329 A CN 1986329A
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- spherical
- skirt
- apron
- outer shroud
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Abstract
The double spherical shell docking apron is one submarine rescue aid especially suitable for replacing the 'fixed' hatch of four-freedom dynamically positioned deep submersible rescue vehicle to result in docking function of six-freedom dynamically positioned rescue vehicle. The present invention includes one rotatable spherical apron, one spherical apron seat fixed onto the rescue hatch of the rescue vehicle dynamically sealed with the spherical apron, one outer ring outside the spherical apron, two outer ring shafts coaxial with the outer ring and inserted inside rack bearing housings fixed on the rescue vehicle, and two reducing motors as the power source for orthogonal rotation. The present invention makes it possible to decrease the amount of dynamically positioning equipment for deep submersible rescue vehicle and to simplify its control.
Description
Technical field
A kind of double spherical shell docks skirt, belongs to submarine personnel's wrecking equipment.
Background technology
Begin plan development deep submersible rescue vehicle DSRV (Deep Submergency RescueVehicle) as far back as the U.S. in 1963.In June, 1966, Lockheed Missiles ﹠ Space Co. began to build first DSRV-I, following water in 1971.This is a manned submersible, and the special passage that dock with accident ship escape hatch (insider often is referred to as " skirt ", below two nouns can exchange) is housed, to be rescued " doing " transfer of personnel on the ship of realizing having an accident.
Because accident ship escape hatch plane generally is not in horizontality, sometimes even have a very big longitudinal and transverse inclination angle, make four-degree-of-freedom dynamic positioning life boat be difficult to competent salvage work with " fixing " passage (skirt), address this problem two kinds of ways are arranged at present: the first is improved the dynamic positioning function of deep submersible rescue vehicle, on the basis of four-degree-of-freedom dynamic positioning system (DPS), increase trim and two kinds of positioning functions of heel, realize the six degree of freedom dynamic positioning; Another kind is that " fixing " passage (skirt) on the deep submersible rescue vehicle of four-degree-of-freedom dynamic positioning is adapted as " rotation " passage (skirt), to adapt to the trim and the heel on accident ship escape hatch plane.
Fairly obvious, in preceding a kind of scheme, not only need to install additional the longitudinal and transverse regulating mechanism that inclines, increase the control and the regulating power of the longitudinal and transverse motion of inclining of whole hull, and, greatly increased the complexity of control system because the math modeling of its motion has more variable, stronger coupling and nonlinear dynamic characteristics.It should be noted that: because the hull inertial mass is very big, not only consumption of power is big to utilize propelling unit that whole hull is carried out longitudinal and transverse meticulous conciliation of inclining, and anti-jamming capacity is poor.Then a kind of scheme does not need to change ripe four-degree-of-freedom dynamic positioning technology, dynamic positioning work area when promptly life boat being docked with accident ship hatch is divided into " integral body " and " part " two large divisions, the former is based on the four-degree-of-freedom dynamic positioning system (DPS), the target of location is " centering " (accident ship escape hatch is within the measurement range of life boat sensor) and " seat platform " (butt joint planes overlapping), and the latter's localizing objects is " leveling " (making passage butt joint plane parallel).
U.S. Pat 3987742 " Swivel air lock for airtight connection betweensubmergibles " (the airtight passage of the rotation that is used for being tightly connected between the hull under water) (1976.10.26) and U.S. Pat 5755532 " Articulating pressure conduit " (activity pressure passage) (1998.05.26) the research situation of above-mentioned second scheme disclosed.The constructional feature of previous patent is two butt spherical shells to be sleeved on together (at the interior skirt (skirt) that is referred to as, outside be referred to as skirt (bell)), form relatively turnable spherical channel, and rotate respectively with under the promotion of skirt and skirt pivotally attached pressurized strut (jacks) in the end.Fairly obvious, the adjustment in direction essence of passage is to realize in the fixed-point motion of the centre of sphere at rigid body (spherical apron); In addition, the physical dimension of pressurized strut has reduced the action radius of skirt with respect to skirt again.The patent in back is thought the former setting range limited (have a limited ability), former end face with two wedge shape spherical shells (hollow wedge-shaped segment) is dynamically connected and forms an integral passage, except that the wedge shape spherical shell can relatively rotate, whole passage can rotate around the vertical axle of hull.So the adjustment in direction essence on passage butt joint plane is to realize in the rotation process of two non-orthogonal axes separately or integrally at two wedge shape spherical shells.It is worth mentioning: the packing technique in (1) described first patent can be used for reference; (2) " fixed-point motion " and " around the rotation of two non-orthogonal axes " to cause the motion on passage butt joint plane to be described complicated, so do not mention in the above-mentioned patent document passage docked control policy and the step of adjusting to the preset bearing in the plane.In other words, when adopting above-mentioned two classes to rotate skirt, the adjustment in direction on skirt mouth butt joint plane may need the diver to use instruments (shown in US5755532 patent documentation accompanying drawing) such as hook and hawser.
Summary of the invention
The objective of the invention is to disclose a kind of double spherical shell butt joint skirt, the adjustment in direction on spherical channel butt joint plane can realized in twice independent rotation of two orthogonal axes.The four-degree-of-freedom dynamic positioning life boat that this double spherical shell butt joint skirt is installed can be in docking operation, needed six degree of freedom dynamic positioning Function Decomposition was " integral body " and " part " two large divisions when life boat was docked with accident ship hatch, the former is based on simple, the ripe four-degree-of-freedom dynamic positioning system (DPS) of technology, and the target of location is " centering " (accident ship escape hatch is within the measurement range of life boat skirt oral instructions sensor) and " seat platform " (butt joint planes overlapping); The latter's localizing objects is " leveling " (making passage butt joint plane parallel), and because the adjustment in direction on spherical channel butt joint plane is realized the automatic guidance of the docking operation that is highly advantageous in twice independent rotation.
Theoretical basis of the present invention is: any orientation that plane (for example " equatorial plane " of following spherical apron) desired to put all can realize (proof slightly) by twice independent rotation of pair of orthogonal rotating shaft in this plane; And passage butt joint residing orientation, plane (parallel with " equatorial plane " of following spherical apron) can be determined by the observed reading of several distance measuring sensors of suitable layout after each independent rotation, and is used to formulate control policy.The general principle of control policy is: because accident ship escape hatch size is limited, for making distance measuring sensor obtain observed reading, it is prerequisite that " leveling " work should be docked plane " centering " with the accident ship with life boat, and this is not difficult to accomplish for the life boat of the four-degree-of-freedom dynamic positioning function with rotation path; Again because " leveling " process can influence " centering ", thus in control program, should intersect detection " centering " and " leveling " sensor observed reading and manage to reset to control " target "; In case two kinds of observed readings all meet the demands, get final product " seat platform ", finish butt joint.
Double spherical shell butt joint skirt comprises spherical skirt, support, spherical apron, spherical apron drive motor, skirt axle, outer shroud, outer shroud drive motor, outer annulate shaft and high pressure water joint.Wherein, rotating spherical apron all is that both sides have parallel section and the different spherical shell of section diameter with fixing spherical skirt, both dynamic seal suits (different with US3987742 is: spherical apron outside, spherical skirt is interior); Install flange at the section place of a side of spherical skirt additional and be solidly fixed with the end flange dish of life boat rescue hatch bustle pipe; And the section place that is used for docking a side with the accident ship on spherical apron installs a taper seat ring additional; For matching requirements, spherical apron is at " equatorial plane " somatotype, and by affixed with countersunk bolt behind the seam plug-in mounting.The structure design of realization dynamic seal can and be used for reference the packing technique that U.S. Pat 3987742 is provided according to existing dynamic seal theory between spherical apron and spherical skirt.Meanwhile, install the high pressure water joint additional,,, and then prevent that the molecule in the seawater from entering between the slide relative face in order to the extraneous sea water static pressure power of balance so that by the suitable high pressure water of high-pressure hydraulic pump injection pressure in sealing surface in the inboard of spherical skirt.Internal diameter is heavy wall short cylinder shape greater than the outer shroud of spherical apron external diameter, is packed in the barrel outside with two outer annulate shafts of one diameter coaxial line and is inserted in the bracket bearing hole that is connected with life boat; So, outer shroud can be packed in the support outside by end flange and with one outside two-way rotation under the drive of the outer shroud drive motor that links to each other of annulate shaft; Also install two bearing carrier rings on the outer shroud, its axis and above-mentioned diameter shaft quadrature; Two skirt axles pass respectively described bearing carrier ring and with spherical apron " equatorial plane " in a diameter coaxial line be packed in the outside face of spherical apron, so spherical apron can two-way rotation under the drive of the spherical apron drive motor that is packed in the outer shroud outside by end flange and links to each other with a skirt axle.
Fairly obvious, double spherical shell butt joint skirt satisfies condition mentioned in the theoretical basis of the present invention, and two physics rotating shafts are the pair of orthogonal axles that are positioned at spherical apron " equatorial plane "; And related " plane " is exactly " equatorial plane " of spherical apron in the theoretical basis.
Description of drawings
Fig. 1 double spherical shell butt joint skirt structural representation (front view)
Fig. 2 double spherical shell butt joint skirt structural representation (lateral plan)
The specific embodiment
Provide preferred implementation of the present invention below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, 2, double spherical shell butt joint skirt comprises spherical skirt 03, support 04, spherical apron 11, spherical apron drive motor 12, skirt axle 13, outer shroud 31, outer shroud drive motor 32, outer annulate shaft 33 and high pressure water joint 26.Wherein, fixing spherical skirt 03 all is that both sides have parallel section and the different spherical shell of section diameter with rotating spherical apron 11, both dynamic seal suits, spherical apron 11 outside, in spherical skirt 03 occupies; One side section of spherical skirt 03 installs flange additional and is solidly fixed with the end flange dish of the rescue hatch bustle pipe 02 of life boat 00; And the section place that is used on the spherical apron 11 docking side with the accident ship installs a taper seat ring additional; For matching requirements, spherical apron 11 is at " equatorial plane " somatotype, and by affixed with countersunk bolt behind the seam plug-in mounting.03 structure design of realizing dynamic seal of spherical apron 11 and spherical skirt can be according to existing dynamic seal theory and packing technique, meanwhile, install high pressure water joint 26 additional in the inboard of spherical skirt 03, so that by the suitable high pressure water of high-pressure hydraulic pump (not drawing among the figure) injection pressure in sealing surface, in order to the extraneous sea water static pressure power of balance, and then the molecule in the anti-sealing enters between the slide relative face.Internal diameter is heavy wall short cylinder shape greater than the outer shroud 31 of spherical apron 11 external diameters, with the one diameter is that two outer annulate shafts 33 of axis are packed in the barrel outside and are inserted in the bearing hole on the support 04 that is connected with life boat 00, so, outer shroud 31 can end flange be packed in support 04 outside and with one outside two-way rotation under the drive of the outer shroud drive motor 32 that links to each other of annulate shaft 33; Also install two bearing carrier rings on the outer shroud 31, its axis and above-mentioned diameter shaft quadrature; Two skirt axles 13 pass respectively described bearing carrier ring and with the interior diameter coaxial line of spherical apron 11 " equatorial plane " be packed in the outside face of spherical apron 11, so, spherical apron 11 can end flange be packed in outer shroud 31 outsides and the drive of the spherical apron drive motor 12 that links to each other with a skirt axle 13 under two-way rotation.
The beneficial effect that this double spherical shell butt joint opotism is installed is: the adjustment in direction on passage butt joint plane is to realize in twice independent rotation of two orthogonal axes.So, even if having the life boat of four-degree-of-freedom dynamic positioning function, the present invention has been installed after, also can in docking operation, have six degree of freedom dynamic positioning life boat to connection function.And the four-degree-of-freedom dynamic positioning technology of life boat is than six degree of freedom dynamic positioning technology maturation, much simple; " part " adjustment in direction on passage butt joint plane also is easy to realize the automatic guidance of the docking operation that is highly advantageous to.
Use the present invention can greatly reduce the quantity of deep submersible rescue vehicle required drive fixing aid and the control difficulty of passage butt joint.
Claims (1)
1. a double spherical shell butt joint skirt comprises that the employing movable sealing structure is sleeved on spherical apron (11) and spherical skirt (03) together, and it is characterized in that: spherical apron (11) holds spherical skirt (03); In addition, also comprise support (04), spherical apron drive motor (12), skirt axle (13), outer shroud (31), outer shroud drive motor (32), outer annulate shaft (33) and high pressure water joint (26); Wherein, a side section of spherical skirt (03) installs flange additional and is solidly fixed with the end flange dish of the rescue hatch bustle pipe (02) of life boat (00); Internal diameter is heavy wall short cylinder shape greater than the outer shroud (31) of spherical apron (11) external diameter, with the one diameter be two outer annulate shafts (33) of axis be packed in the barrel outside and be inserted into and support (04) that life boat (00) is connected on bearing hole in; The end flange of outer shroud drive motor 32 is packed in support (04) outside and links to each other with an outer annulate shaft (33); Also install two bearing carrier rings on the outer shroud (31), the orthogonal axe of its axis and outer annulate shaft (33); Two skirt axles (13) pass respectively described bearing carrier ring and with the interior diameter coaxial line of spherical apron (11) " equatorial plane " be packed in the outside face of spherical apron (11); The end flange of spherical apron drive motor (12) is packed in outer shroud (31) outside and links to each other with a skirt axle (13); The inboard of spherical skirt (03) installs high pressure water joint (26) additional.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101511692A CN100395158C (en) | 2006-12-20 | 2006-12-20 | Double spherical shell docking apron |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101511692A CN100395158C (en) | 2006-12-20 | 2006-12-20 | Double spherical shell docking apron |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1986329A true CN1986329A (en) | 2007-06-27 |
| CN100395158C CN100395158C (en) | 2008-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101511692A Expired - Fee Related CN100395158C (en) | 2006-12-20 | 2006-12-20 | Double spherical shell docking apron |
Country Status (1)
| Country | Link |
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| CN (1) | CN100395158C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101871779A (en) * | 2010-04-30 | 2010-10-27 | 中国船舶重工集团公司第七〇二研究所 | Locator for inner surface and outer surface of spherical shell |
| CN103224016A (en) * | 2013-04-27 | 2013-07-31 | 中国船舶重工集团公司第七○二研究所 | Escape cabin of submersible |
| CN103318390A (en) * | 2013-07-03 | 2013-09-25 | 哈尔滨工程大学 | Space docking device of underwater vehicle |
| CN107161306A (en) * | 2017-04-07 | 2017-09-15 | 哈尔滨工程大学 | A kind of detachable double spherical shell docking apron with buffer unit |
| CN107651145A (en) * | 2017-09-25 | 2018-02-02 | 李宏江 | Deep sea submarine and the connection valve of submarine rescue supply |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2264713B1 (en) * | 1974-03-19 | 1977-07-15 | France Etat | |
| US5755532A (en) * | 1995-11-24 | 1998-05-26 | Hard Suits, Inc. | Articulating pressure conduit |
| RU2276647C1 (en) * | 2004-11-17 | 2006-05-20 | Федеральное Государственное Унитарное Предприятие "Санкт-Петербургское Морское Бюро Машиностроения "Малахит" | Submersible rescue vehicle |
| DE102005045245B3 (en) * | 2005-09-22 | 2006-11-09 | Howaldtswerke-Deutsche Werft Gmbh | Submarine, with an escape shaft, has a pressure-resistant swing hatch lid and a cover in two swing sections for access to a docked deep submergence rescue vehicle |
-
2006
- 2006-12-20 CN CNB2006101511692A patent/CN100395158C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101871779A (en) * | 2010-04-30 | 2010-10-27 | 中国船舶重工集团公司第七〇二研究所 | Locator for inner surface and outer surface of spherical shell |
| CN101871779B (en) * | 2010-04-30 | 2012-07-18 | 中国船舶重工集团公司第七〇二研究所 | Locator for inner surface and outer surface of spherical shell |
| CN103224016A (en) * | 2013-04-27 | 2013-07-31 | 中国船舶重工集团公司第七○二研究所 | Escape cabin of submersible |
| CN103224016B (en) * | 2013-04-27 | 2015-05-20 | 中国船舶重工集团公司第七○二研究所 | Escape cabin of submersible |
| CN103318390A (en) * | 2013-07-03 | 2013-09-25 | 哈尔滨工程大学 | Space docking device of underwater vehicle |
| CN103318390B (en) * | 2013-07-03 | 2015-12-09 | 哈尔滨工程大学 | Underwater research vehicle space articulation device |
| CN107161306A (en) * | 2017-04-07 | 2017-09-15 | 哈尔滨工程大学 | A kind of detachable double spherical shell docking apron with buffer unit |
| CN107651145A (en) * | 2017-09-25 | 2018-02-02 | 李宏江 | Deep sea submarine and the connection valve of submarine rescue supply |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100395158C (en) | 2008-06-18 |
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Granted publication date: 20080618 Termination date: 20101220 |