KR20220113913A - Mr fluid damper and vertical disturbance compensate device of pull type underwater equipment using mr fluid damper - Google Patents

Abstract

Disclosed is a vertical disturbance compensator of towed underwater equipment using a magnetorheological (MR) fluid. The vertical disturbance compensator of towed underwater equipment using an MR fluid according to the present invention comprises: an MR fluid damper including a hollow housing, an electromagnet mounting member filled with an MR fluid, electromagnets, a rod whose one end is connected to a connection cable of underwater survey equipment and whose the other end is coupled to a piston, the piston having a fluid passage hole and being disposed at the internal center of the electromagnet mounting member, and a control module for controlling power applied to the electromagnets based on sensing signals sensed by magnetic field measurement sensors provided on the electromagnets and a distance measurement sensor provided on the piston to measure a distance to the electromagnets; and a control unit configured to receive a survey vessel attitude value detected from a survey vessel attitude detection sensor for detecting an attitude of a survey vessel and an equipment motion value detected from a motion detection sensor of the underwater survey equipment and transmit the same to the control module through a communication module. In a state in which a towing cable connected to a winch of the survey vessel is connected to the housing of the MR fluid damper and the connection cable connected to the underwater survey equipment is connected to the rod, the vertical disturbance compensator compensates for vertical disturbance of the underwater survey equipment by controlling the magnetic field of the MR fluid damper based on the survey vessel attitude value and the equipment motion value, to buffer a load acting on the towing cable and the connection cable.

Description

MR FLUID DAMPER AND VERTICAL DISTURBANCE COMPENSATE DEVICE OF PULL TYPE UNDERWATER EQUIPMENT USING MR FLUID DAMPER using the same

The present invention relates to an MR (magnetorheological) fluid damper and a vertical disturbance compensation device for traction type underwater equipment using the same, and more particularly, to an MR fluid using an MR fluid having a viscous resistance change property according to the size of a magnetic field By configuring the damper and installing the MR fluid damper between the underwater equipment and the winch cable, the degree of buffering is determined according to the movement of the underwater equipment or the movement of the irradiation line, and the viscosity of the MR fluid is changed according to the determined buffering degree to vertical disturbance of the underwater equipment. It relates to an MR (MR) fluid damper capable of compensating for and a vertical disturbance compensator for traction type underwater equipment using the same.

In general, ocean observation is performed to understand the physical and chemical properties of water layers in the coastal environment. Ocean observation acquires target information by repeatedly launching and salvaging underwater survey equipment equipped with ocean observation sensors that meet the purpose.

The underwater survey equipment is configured to observe the underwater environment by launching into the water using a winch from the survey ship.

Equipment for launching and salvaging such equipment for underwater investigation into the water is to be provided on a survey ship or the like.

As a prior art, Korean Patent Registration No. 10-2054667 (published on December 11, 2019) discloses an automatic vertical input and lifting device for underwater irradiation equipment. This automatic vertical input and lifting device for underwater survey equipment is an underwater survey site that can not only automatically put or lift underwater survey equipment to a target depth set accurately and automatically from a survey ship, but also automatically perform input and lift repeatedly. It relates to an automatic vertical feeding and lifting device.

This automatic vertical input and lifting device is operated and controlled by a control unit that has a winch device equipped with a timer and receives information on water depth, input holding time, and the number of repetitions of input and lift, etc. The underwater environment using the underwater survey equipment can be accurately put in up to the maximum, can be maintained for a set period of time, and the operation of launching and salvaging the underwater survey equipment can be automatically performed according to the set number of input and lift repetitions. It could provide the effect that the survey could be done accurately and conveniently.

However, the input and lifting device of this structure is a method that acts on the cable when a vertical load is applied to the cable connected to the underwater survey equipment due to current or other reasons, or when the survey ship installed with a winch is excessively moved by rolling or pitching. As a means for compensating for the sudden load is not provided, there is a problem that the signal cable provided in the cable or the towing cable towing the underwater survey equipment may be damaged.

In addition, marine physical data, image data, chemical data, etc. are data acquired by launching underwater survey equipment underwater. Vertical disturbance may occur in the towed underwater survey equipment by the currents or currents acting on the underwater survey equipment) and the movement of the survey gun (pitching or rolling, etc.). That is, the automatic vertical input and lifting device according to the prior art is not provided with a means for controlling the pulling force between the winch cable and the underwater survey site according to the change in the vertical motion of the underwater survey equipment or the movement of the survey ship. There was a problem in that the accuracy of the acquired data was lowered by the vertical disturbance.

. Republic of Korea Patent No. 10-2054667 (Announcement Date: 2019.12.11)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an MR fluid damper using an MR fluid having a property of changing viscous resistance according to the magnitude of a magnetic field.

Another object of the present invention is to install an MR fluid damper between the underwater equipment and the winch cable to determine the degree of buffering according to the movement of the underwater equipment or the movement of the irradiation line, and change the viscosity of the MR fluid according to the determined buffering degree of the underwater equipment. An object of the present invention is to provide an MR (MR) fluid damper capable of compensating for vertical disturbance and a vertical disturbance compensating device for traction type underwater equipment using the same.

In addition, the problem to be solved by the present invention is not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

The above object is, according to the present invention, a hollow housing having a predetermined length, one side is connected to the traction cable and the rod through hole is formed on the other side, is formed in a hollow tube shape to be coupled to the inside of the housing and based on the center A plurality of partition members are provided radially, and an electromagnet installation member filled with MR fluid inside, and an electromagnet layer disposed radially between the partition members, respectively, along the longitudinal direction of the electromagnet installation member Each electromagnet is disposed to form a plurality of electromagnet layers, and each electromagnet for forming a magnetic field that changes the resistance and viscosity of the MR fluid by the applied power, and one end is connected to the connection cable of the underwater irradiation equipment, and the other end is A rod having a fluid passage hole and coupled to a piston disposed in the inner center of the electromagnet installation member, a magnetic field measuring sensor provided in the electromagnet, and a distance measuring sensor provided in the piston to measure a distance between the electromagnet MR fluid damper including a control module for controlling the power applied to the electromagnet based on the sensed signal; and a control unit configured to receive the irradiation vessel posture value detected from the irradiation vessel posture sensor for detecting the posture of the irradiation vessel and the equipment motion value detected from the motion detection sensor of the underwater irradiation equipment and transmit it to the control module through the communication module, , In a state in which the traction cable connected to the winch of the irradiation vessel is connected to the housing of the MR fluid damper, and the connection cable connected to the underwater irradiation equipment is connected to the rod, the irradiation vessel attitude value and the equipment motion value Based on the control of the magnetic field of the MR fluid damper to buffer the load acting on the traction cable and the connection cable to compensate for the vertical disturbance of the underwater irradiation equipment Using a MR fluid damper This is achieved by means of a vertical disturbance compensator for towed underwater equipment.

The control unit, based on the attitude value of the irradiation line, the winding and unwinding state values detected by the winding / unwinding detection sensor provided in the winch, and the tension value of the traction cable detected by the cable tension detection sensor, whether the attitude of the irradiation line changes It may be configured to determine the magnetic field applied to the electromagnet of the electromagnet layer according to the change in the posture of the irradiation line.

According to the present invention, in configuring the MR fluid damper, a plurality of electromagnets are radially arranged, and the radially arranged electromagnets are configured to form one layer, and the electromagnet magnetic field of each electromagnet layer is controlled entirely or separately. By doing so, it is possible to provide an effect of efficiently performing damping using the MR fluid. In particular, the damping of the damper can be subdivided by controlling the magnetic fields of the electromagnets of all layers at the same time or controlling the magnetic fields of the electromagnets of a selected layer among the electromagnet layers after the electromagnets are stacked in multiple layers, and the applied load Accordingly, it is possible to provide an effect of adjusting the damping force.

In addition, in the case of investigating the underwater environment by launching the underwater survey equipment from the survey ship to the water, by installing the MR fluid damper between the underwater survey equipment and the winch, the degree of buffering is determined according to the movement of the underwater survey equipment or the movement of the survey ship. It is possible to provide the effect of compensating for vertical disturbance of underwater equipment by changing the resistance viscosity of the MR fluid according to the determined buffering degree.

1 is an exploded perspective view illustrating an MR fluid damper according to a first embodiment of the present invention.
FIG. 2 is a perspective view of the coupled state of the MR fluid damper shown in FIG. 1 .
3 is a cross-sectional view taken along line AA of FIG. 2 .
4 and 5 are cross-sectional views taken along lines BB and CC of FIG. 3 .
6 and 7 are schematic cross-sectional views for explaining the operation of the MR fluid damper shown in FIG. 1 .
8 is a cross-sectional view illustrating an MR fluid damper according to a second embodiment of the present invention.
9 is a schematic block diagram for explaining the vertical disturbance compensation device of the traction type underwater equipment to which the MR (MR) fluid damper according to the present invention is applied.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in describing the present invention, descriptions of already known functions or configurations will be omitted in order to clarify the gist of the present invention.

In addition, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise in the phrase. As used herein, 'comprises' and/or 'comprising' does not exclude the presence or addition of one or more other elements.

In addition, when it is said that a certain element is "connected" to another element, it may be directly connected to the other element, but it should be understood that another element may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle.

Among the accompanying drawings, FIG. 1 is an exploded perspective view showing an MR fluid damper according to a first embodiment of the present invention, and FIG. 2 is a perspective view of the coupled state of the MR fluid damper shown in FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 . 4 and 5 are cross-sectional views taken along lines B-B and C-C of FIG. 3 , and FIGS. 6 and 7 are schematic cross-sectional views for explaining the operation of the MR fluid damper shown in FIG. 1 .

As shown in FIGS. 1 to 6 , the MR fluid damper 20 according to the first embodiment of the present invention uses an MR fluid whose resistance viscosity changes under the influence of a magnetic field to the piston 32 . This is to control the damping action in various ways according to the size or speed of the load by controlling the movement of the

The MR fluid damper 20 includes a hollow cylindrical housing 22 having a rod through hole 22A formed at one end thereof and having a predetermined length. MR fluid formed in a hollow tube shape and coupled to the inside of the housing 22, a plurality of partition members 24A are provided radially based on the center, respectively, and the resistance viscosity is varied by a magnetic field in the inner working space (S). (MR) includes an electromagnet mounting member 24 to be filled. Power is applied to each of the plurality of electromagnet layers LA1 to LAn by being radially disposed between each partition member 24A to form an electromagnet layer LA, respectively disposed along the longitudinal direction of the electromagnet installation member 24 Each of the electromagnets 26 for forming a magnetic field for changing the resistance viscosity of the MR fluid MR is included. It includes a piston 32 disposed in the center of the working space (S) of the electromagnet installation member 24 having a fluid passage hole (32). And the piston 32 is coupled to the end of the rod (30).

This will be described in more detail.

The housing 22 has a hollow cylindrical structure having a predetermined length, and a rod through hole 22A is formed at one end thereof. The housing 22 may be formed integrally, but may be separately manufactured as an upper body and a lower body, and then coupled to each other by maintaining airtightness. In this case, the rod through hole 22A is formed in the lower body.

The electromagnet installation member 24 is formed in a hollow tube shape, is coupled to the inside of the housing 22, a plurality of partition members 24A are provided radially based on the center, respectively, and the electromagnet 26 is a working space (S) are stacked to form each electromagnet layer LA. The inner working space (S) is configured to be filled with the MR fluid (MR) whose resistance viscosity is variable according to the strength of the magnetic field. The electromagnet mounting member 24 includes a cylindrical body 24B, a first blocking plate 24C coupled to block one end of the body 24B, and a rod through hole coincident with the rod through hole 22A ( 24D) and a second blocking plate 24D coupled to the other end of the main body 24B.

The electromagnet installation member 24 may be made of a non-magnetic material so as not to affect the magnetic field, and the main body 24B, the first blocking plate 24C, and the second blocking plate 24D are formed with bolts or bolts after each component is installed therein. It can be integrated by welding or the like. In addition, the electromagnet installation member 24 may be configured to be coupled to each other by maintaining airtightness by being composed of an upper body and a lower body similar to the housing 22 described above.

The above-described partition members 24A are made of a non-magnetic material, and the electromagnets 26 constituting each electromagnet layer LA are spaced apart in the horizontal direction as shown in FIG. in order to avoid The partition member 24A may be formed integrally with the electromagnet installation member 24 . For example, the partition members 24A on the inside of the main body 24B by extrusion molding may be formed to protrude toward the center, respectively. In addition, the partition member 24A may be separately manufactured and fixedly disposed radially with respect to the center on the inner circumferential surface of the electromagnet installation member 24 .

When the partition member 24A is separately manufactured, each partition member 24A is integrated with the electromagnet installation member 24 by a separate fixing means.

On the opposite surfaces of the first blocking plate 24C and the second blocking plate 24D of the above-described electromagnet installation member 24, friction when the piston 32 comes into contact with a linear motion (linear reciprocating motion within the working space). Shaft bearings 24E for rotating so as not to be prevented are provided, respectively. In particular, since the housing 22 and the rod 30 are not constrained to each other, the housing 22 and the rod 30 may rotate in different directions. As such, the housing 22 and the rod 30 are When the shaft bearing 24E is in contact with the load applied in the other direction, the piston 32 rotates smoothly to prevent noise or damage due to friction.

Meanwhile, insulating oil IO may be filled in a space between the housing 22 and the electromagnet installation member 24 . Insulating oil (IO) functions to transfer heat generated from the electromagnet mounting member 24 to the housing 22 to dissipate it, and not only protects the electromagnet mounting member 24 from external forces, but also affects the internal magnetic field to the outside. and serves to prevent the external magnetic field from affecting the internal electromagnets 26 . The insulating oil IO may be filled through a separate valve provided in the housing 22 .

Each of the electromagnets 26 described above includes an electromagnet base and a coil, and four electromagnets 26 are arranged at intervals of 90° in one electromagnet layer LA. In addition, each of the electromagnets 26 is arranged so that the initial field does not affect the magnetic field of the neighboring electromagnet 26 . These electromagnets 26 are provided with magnetic field measuring sensors 26B (haul type sensors) for measuring a magnetic field when power is applied to form a magnetic field, respectively. These magnetic field measuring sensors 26B are also configured to detect a magnetic field that is changed when the piston 32 approaches the corresponding electromagnet 26 . For example, in a state in which four electromagnets 26 of one electromagnet layer LA1 are provided, and two magnetic field measuring sensors 26B are provided in one electromagnet 26, the magnitude of the double magnetic field absolute value is four When it is sensed from the above magnetic field measuring sensors 26B, it is recognized that the piston 32 is located in the corresponding electromagnet layer LA1. In this way, the magnetic field measuring sensors 26B are configured to detect a change in the magnetic field according to the movement of the piston 32 to determine the position of the piston 32, that is, which electromagnet layer LA to LAn the piston 32 is located. be able to

And, the piston 32 is provided with a distance measuring sensor 26A for measuring the distance to the electromagnet 26 . These distance measuring sensors (26A) are made up of a plurality and are respectively arranged on the edge with respect to the center of the piston (32). The distance measuring sensors 26A are provided in a number corresponding to the number of the electromagnets 26 . That is, the number of electromagnets 26 constituting one electromagnet layer LA is provided. In this embodiment, since four electromagnets 26 constitute one electromagnet layer LA, it will be described based on the fact that four distance measuring sensors 26A are provided. In this case, the distance measuring sensor 26A may be provided on the inner surface of each electromagnet 26 facing the outer surface of the piston 32 .

A control module 40 for receiving the detection signal detected by the magnetic field measuring sensor 26B and the distance measuring sensor 26A and controlling the power applied to the electromagnet 26 in the inside or outside of the housing 22 described above this is provided

Control module 40, each distance measuring sensor (26B: eddy current type distance measuring sensor - EDDY CURRENT SENSOR) based on the distance sensing signal detected by the piston 32 is electromagnet located in the center in the electromagnet layer (LA) configured to control the power applied to each electromagnet 26 of the layer LA. For example, when four electromagnets 26 are radially disposed in the electromagnet layer LA, when the piston 32 is moved toward any one electromagnet 26, the magnetic field of the electromagnet 26 is changed. , on the basis of the distance sensing signal sensed by each distance measuring sensor 26A, in order to prevent this and to ensure that the piston 32 is always located in the center, the edge of the piston 32 and each electromagnet 26 of the corresponding electromagnet layer LA ) to control the intensity of the power applied to each electromagnet 26 so that the distance between them is constant. That is, if the distance between one of the electromagnets 26 and the piston 32 is close, the strength of the power applied to the electromagnet 26 on the opposite side is increased or the power applied to the electromagnet 26 is decreased. It is to uniformly control the intensity of the magnetic field acting on the piston (32).

And the control module 40 is configured to determine the position of the piston 32 based on the magnetic field change value sensed by the magnetic field measuring sensor 26B. That is, when the piston 32 is located in the electromagnet layer LA, the magnetic field of the electromagnet 26 constituting the electromagnet layer LA in which the piston 32 is located changes. The position of (32) can be grasped. For example, as shown in Fig. 4, each of the electromagnets 26 radially arranged to form respective electromagnet layers LA1, LA2, LA3, LA4, LA5, LA6, LA7, LA8, LA9, LA10. In the stacked arrangement, when the piston 32 is positioned on the sixth electromagnet layer LA6, the magnetic field measuring sensor 26B provided in the electromagnets 26 of the sixth electromagnet layer LA6 detects the change in the magnetic field. Since it is sensed and transmitted to the control module 40 , the control module 40 can determine that the piston 32 is located in the sixth electromagnet layer LA6 .

The rod 30 is connected to the housing 22 through the piston 32, and the end is coupled to the piston 32 and is located in the working space (S), and the other end is located outside.

The piston 32 is made of a magnetic material, and as shown in FIGS. 1 and 3 , a plurality of fluid passage holes 32A are formed in a radial direction with respect to the center. The piston 32 is installed to be located in the center of the electromagnet 26 forming the electromagnet layer LA in the inner center of the electromagnet installation member 24, that is, the working space S. Each of the fluid passage holes 32A is a passage for the MR fluid MR to move when the piston 32 moves upward or downward of the working space S. The fluid passage hole 32A may be formed in one or a plurality, and the size and number thereof may be variously set according to the damping force or the damping speed.

The operation of the MR fluid damper 20 configured in this way will be described.

6 and 7, in a state in which each electromagnet 26 is stacked to form an electromagnet layer LA, and power is not applied to each electromagnet 26, it acts on the rod 30 The piston 32 freely moves in the working space (S) by the load (tensile load or compressive load). At this time, the MR fluid MR moves in the opposite direction to the movement of the piston 32 through the fluid passage hole 32A, and a general damping action according to the speed passing through the fluid passage hole 32A when the piston 32 moves this is done

In this state, when power is applied from the control module 40 to all the electromagnets 26 of each electromagnet layer LA, the resistance viscosity of the MR fluid MR is increased by the magnetic field formed by each electromagnet 26 . Accordingly, as the flow of the MR fluid MR passing through the fluid passage hole 32A of the piston 32 is slowed, the sudden load acting on the piston 32 can be buffered. At this time, since the resistance viscosity of the MR fluid MR increases according to the strength of the magnetic field generated by the electromagnet 26, the degree of buffering is adjusted by controlling the strength of the magnetic field.

On the other hand, the magnetic field of each electromagnet layer LA can be generated differently by controlling the magnitude of the power applied to each electromagnet layer LA differently through the control module 40 or by setting and controlling the application order. For example, by grasping the position of the piston 32 based on the position detection signal of the piston 32 sensed by the magnetic field measuring sensor 26B provided in the electromagnet 26 of each electromagnet layer LA, the piston 32 ) is rapidly moved, the magnetic field of each electromagnet layer (LA) corresponding to the moving direction is sequentially generated and at the same time the magnitude of the magnetic field is gradually controlled to increase the load acting on the rod 30 abruptly. It can be charged quickly and efficiently. That is, when the piston 32 is sensed from the fifth electromagnet layer LA5 with respect to the sixth electromagnet layer LA6 in which the piston 32 is located, the first than the electromagnets 26 of the fifth electromagnet layer LA5. By controlling the magnetic field of each electromagnet 26 to gradually increase toward the electromagnet layer LA1, the resistance to the movement of the piston 32 on which the abrupt load acts is gradually increased, thereby reducing the abrupt load acting on the rod 30. It can be charged slowly and stably.

Meanwhile, FIG. 8 is a cross-sectional view illustrating an MR fluid damper according to a second embodiment of the present invention.

As shown in FIG. 8 , the MR fluid damper 20 according to the second embodiment acts on the rod 30 between the second blocking plate 24D of the electromagnet installation member 24 and the piston 32 . It is the same as the above-described embodiment except that the spring 80 is provided for buffering the load and returning the piston 32 to its original position (the position before the tensile load is applied).

Since the spring 80 is installed between the second blocking plate 24D and the piston 32, even if power is not applied to each electromagnet 26, the spring 80 acts on the rod 30 within the allowable range. It can absorb the load.

In addition, the spring 80 according to the present invention, after reaching the lowest point (the state in which the spring 80 is compressed while moving toward LA10 with reference to FIG. 5) while the piston 32 buffers the tensile load, each electromagnet ( 26), or when the strength of the magnetic field is smaller than the elastic modulus of the spring 80, the piston 32 returns to the highest point (LA1 side with reference to FIG. 5). In this way, the spring 80 returns the piston 32 to its original position, so that the MR fluid damper 20 according to the present invention can continuously and repeatedly buffer the tensile load.

Of the accompanying drawings, Figure 9 is a schematic block diagram for explaining the vertical disturbance compensation device of the traction type underwater equipment to which the MR (MR) fluid damper according to the present invention is applied.

As shown in Figure 9, the vertical disturbance compensation device of the traction type underwater equipment using the MR fluid damper, the traction cable 122 connected to the winch 120 of the irradiation ship 100 is the MR fluid damper 20 In the state where the connection cable 310 connected to the housing 22 of the Based on the MR fluid damper 20 by controlling the magnetic field to buffer the load acting on the traction cable 122 and the connection cable 310 is configured to compensate for the vertical disturbance of the underwater irradiation equipment (300).

The vertical disturbance compensating device of the traction type underwater equipment using this MR fluid damper is the MR fluid damper 20 according to the present invention configured as described above, and the irradiation line attitude sensor 110 for detecting the posture of the irradiation line 100 . ), the control unit 200 to receive the position value of the irradiation vessel detected from and the motion value of the equipment detected from the motion detection sensor 320 of the underwater irradiation equipment 300 and transmit it to the control module 40 through the communication module 130 is comprised of

And, the control unit 200, the irradiation line attitude value, and the winding and unwinding state value and , Based on the tension value of the traction cable 122 detected by the cable tension sensor 126 for detecting the tension state of the traction cable 122, it is determined whether the attitude of the radiation line 100 changes, and the radiation line 100 It is configured to control the magnetic field applied to each electromagnet 26 of the electromagnet layer LA according to the change in attitude.

As such, the resistance viscosity is changed according to the strength of the magnetic field between the traction cable 122 of the winch 120 and the connection cable 310 of the underwater irradiation equipment 300 to buffer the sudden tensile load acting on the piston 32 By being provided with the MR fluid damper 20 to do so, it is possible to compensate for underwater disturbances acting on the underwater irradiation equipment 300 .

In particular, by determining whether the attitude of the irradiation line 100 is changed based on the irradiation line attitude value, the winding and unwinding state values of the winch 120, and the tension value of the traction cable 122, the irradiation line 100 is periodically pitched or When it is determined that rolling, that is, when it is determined that the posture of the radiation beam 100 changes periodically, the control unit 200 controls the electromagnet layer LA2 in which the piston 32 is located - FIG. 9 according to the magnitude of the change amplitude of the radiation line 100 The same power is applied to the electromagnet 26 of the remaining electromagnet layer LA except for the electromagnet 26 of the reference) to form the same magnetic field. In addition, power is controlled and applied to the electromagnet of the corresponding electromagnet layer LA2 so that a magnetic field reduced by 1/10 intensity compared to other electromagnets 26 is formed.

In this way, when the irradiation line 100 periodically rolls or pitches, or when the posture is periodically changed by other external forces, the electromagnets 26 of the corresponding electromagnet layer LA2 in which the piston 32 is located enter the magnetic field of the electromagnet ( 26), the load periodically acting on the traction cable 122 according to the change in the posture of the radiation line 100 is buffered by the piston 32 located in the corresponding electromagnet layer LA2. That is, since the piston 32 is located in the electromagnet layer LA where the magnetic field is weaker than that of the other electromagnet layer LA and the flow of the MR fluid MR is smooth, the traction cable 122 in the electromagnet layer LA2 area. ) to effectively buffer the periodic load transmitted from, and thus, the load according to the change in the posture of the irradiation vessel 100 is not transmitted to the underwater irradiation equipment 300 .

On the other hand, if the change in the posture of the irradiation line 100 is determined aperiodically in the above-described process, the controller 200 cuts off the power applied to each electromagnet 26 of each electromagnet layer LA or weak (the elastic modulus of the spring). Smaller magnetic field strength (strength enough to move the piston only with the elasticity of the spring) To generate a magnetic field, the piston 32 moves to the area where the uppermost point (LA1 based on FIG. 5) is located by the spring 80 After that, power is applied to each electromagnet 26 again so that the piston 32 absorbs the maximum tensile load, and this process is repeatedly performed.

In this way, while the underwater survey equipment 300 launched into the water from the survey ship 100 investigates the underwater environment, the traction cable 122 and the connecting cable 310 between the winch 120 and the underwater survey equipment 30. By being provided with the MR fluid damper 20 according to the present invention, the abrupt tensile load transmitted from the underwater irradiation equipment 300 and the abrupt tensile load transmitted from the irradiation ship 100 can be stably buffered. Therefore, the underwater irradiation equipment 300 can compensate by buffering the vertical disturbance acting on the underwater irradiation equipment 300 while irradiating the underwater environment.

And, the MR fluid damper 20 according to the present invention can be applied to a variety of equipment requiring efficient buffering of various types of tensile and/or compressive loads, as well as the vertical disturbance compensation device of traction type underwater equipment.

In the foregoing, specific embodiments of the present invention have been described and illustrated, but it is common knowledge in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. It is self-evident to those who have Accordingly, such modifications or variations should not be individually understood from the technical spirit or point of view of the present invention, and modified embodiments should be said to belong to the claims of the present invention.

20: MR fluid damper 22: housing
24: electromagnet installation member 24A: partition member
24B: main body 24C: first blocking plate
24D: second blocking plate 24E: shaft bearing
26: electromagnet 26A: distance measuring sensor
26B: magnetic field measuring sensor 30: rod
32: piston 32A: fluid passage
40: control module
80: spring 100: irradiation line
110: irradiation ship attitude sensor 120: winch
122: traction cable 130: communication module
200: control unit 300: underwater investigation equipment
310: connecting cable

Claims (2)

One side is connected to the traction cable and the rod through hole is formed on the other side, and a hollow housing having a predetermined length, is formed in a hollow tube shape, is coupled to the inside of the housing, and a plurality of partition members are provided radially based on the center, An electromagnet installation member filled with MR fluid inside, and an electromagnet layer disposed radially between the partition members, respectively, are disposed along the longitudinal direction of the electromagnet installation member to form a plurality of electromagnet layers , each electromagnet for forming a magnetic field that changes the resistance and viscosity of the MR fluid by the applied power, and one end is connected to the connection cable of the underwater irradiation equipment and the other end is provided with a fluid passage hole to install the electromagnet A rod coupled to a piston disposed in the inner center of the member, a magnetic field measuring sensor provided in the electromagnet, and a distance measuring sensor provided in the piston for measuring a distance to the electromagnet based on a detection signal detected by the electromagnet MR fluid damper including a control module for controlling the applied power; and
A control unit configured to receive the irradiation vessel posture value detected from the irradiation vessel posture sensor for detecting the posture of the irradiation vessel and the equipment motion value detected from the motion detection sensor of the underwater irradiation equipment and transmit it to the control module through the communication module,
In a state in which the traction cable connected to the winch of the irradiation vessel is connected to the housing of the MR fluid damper, and the connection cable connected to the underwater irradiation equipment is connected to the rod, based on the irradiation vessel attitude value and the equipment motion value Controlling the magnetic field of the MR fluid damper to buffer the load acting on the traction cable and the connection cable, characterized in that it compensates for the vertical disturbance of the underwater irradiation equipment,
Vertical disturbance compensator for traction type underwater equipment using MR fluid damper. The method of claim 1,
The control unit is
Based on the attitude value of the radiation line, the winding and unwinding state values detected by the winding/unwinding sensor provided in the winch, and the tension value of the traction cable detected by the cable tension detection sensor, it is determined whether the attitude of the radiation line changes, characterized in that it is configured to control the magnetic field applied to the electromagnet of the electromagnet layer according to the change in the posture of the radiation,
Vertical disturbance compensator for traction type underwater equipment using MR fluid damper.

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