WO2017045494A1 - 一种自平衡耐压壳装置 - Google Patents

一种自平衡耐压壳装置 Download PDF

Info

Publication number
WO2017045494A1
WO2017045494A1 PCT/CN2016/094256 CN2016094256W WO2017045494A1 WO 2017045494 A1 WO2017045494 A1 WO 2017045494A1 CN 2016094256 W CN2016094256 W CN 2016094256W WO 2017045494 A1 WO2017045494 A1 WO 2017045494A1
Authority
WO
WIPO (PCT)
Prior art keywords
spherical
shell
hatch
casing
connecting shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/094256
Other languages
English (en)
French (fr)
Inventor
戴米格
张建
周通
张纬光
张兵
冯赛赛
苏世杰
张奔
唐文献
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University of Science and Technology
Original Assignee
Jiangsu University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu University of Science and Technology filed Critical Jiangsu University of Science and Technology
Priority to AU2016322277A priority Critical patent/AU2016322277B2/en
Priority to US15/752,586 priority patent/US10343749B2/en
Priority to RU2018108887A priority patent/RU2681825C1/ru
Publication of WO2017045494A1 publication Critical patent/WO2017045494A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00—Hulls characterised by their structure or component parts
    • B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
    • 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
    • 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
    • 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
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • 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
    • B63G8/14—Control of attitude or depth
    • B63G8/26—Trimming equipment

Definitions

  • the invention relates to a deep sea submersible pressure-resistant structural component, in particular to a three-layer self-balancing pressure-reducing pressure-resistant shell device. It belongs to the field of submersible technology.
  • the variety of submersibles for various purposes is rapidly developing, mainly for marine resource exploration and development, scientific research, military exploration and salvage.
  • the submersible is an important equipment for ocean exploration and deep-sea scientific research.
  • the pressure-resistant shell plays a role in ensuring the normal operation of internal equipment and the health and safety of personnel during the dive. Its weight accounts for the total weight of the submersible. 1/4 to 1/2.
  • the pressure-resistant shell design has an important impact on the safety of the submersible, the carrying capacity and the performance of the human-machine ring.
  • the submersible is subjected to high pressure and low temperature in the deep sea, and the flow of sea water will also cause the submersible to shake.
  • the various instruments and equipment carried by the submersible often need to work under normal temperature and pressure, and the submariner's living conditions also need to be close to the land surface. Therefore, high requirements are placed on the pressure-resistant structure of the submersible.
  • Deep sea submersibles mainly have the following problems:
  • the deep-sea submersible will generate huge noise during the work process, which seriously interferes with the underwater operation of the scientific research personnel and the normal operation of the communication device.
  • the housing needs to have good sound insulation performance.
  • the water temperature is low, and the shell needs to have a good thermal insulation function.
  • Modern submersibles use composite materials or specially shaped shell and shell structures to attenuate noise.
  • this kind of sound insulation can only attenuate noise within a certain range, and it is difficult to eliminate or reduce noise to a lower value.
  • high-power temperature control devices and insulation materials are often used to maintain a constant temperature in the submersible cabin.
  • this constant temperature method requires higher performance of the temperature control equipment.
  • the control device needs to consume more energy.
  • the present invention provides a novel self-balancing pressure-reducing pressure-resistant shell device.
  • a self-balancing pressure-resistant shell device is composed of a spherical inner shell, a spherical middle shell and a spherical outer shell surrounding a spherical core set from the inside to the outside; between the spherical inner shell and the spherical middle shell, between the spherical middle shell and the spherical outer shell Both are connected by a pair of symmetric coaxial connecting shaft assemblies, the axes of the two pairs of connecting shaft assemblies are perpendicular to each other, so that the spherical inner shell and the spherical middle shell, the spherical middle shell and the spherical outer shell can mutually rotate; two pairs of connecting shafts
  • the components are equipped with spring dampers to resist between adjacent housings Axial impact.
  • the spherical inner shell is composed of two hemispheres of an inner shell I and an inner shell II
  • the spherical middle shell is composed of two hemispheres of a middle shell I and a middle shell II
  • the spherical shell is composed of two shells I and a shell II.
  • the hemisphere connection is formed.
  • the two pairs of connecting shaft assemblies between the spherical middle shell and the spherical outer shell have the same structural size
  • the sliding bearing assembly comprises a spring damper, a support, a connecting shaft, a sliding bearing, an inner bearing shell, an outer bearing shell, a bearing pressing plate and a screw;
  • the sliding bearing is fixed on the connecting shaft by a bearing pressing plate and a screw, and an inner bearing bush is disposed between the inner wall of the sliding bearing and the connecting shaft, and the connecting shaft is supported on the outer wall of the spherical middle shell, and the supporting base is supported by the spherical outer shell
  • An inner bearing is disposed between the outer wall of the sliding bearing and the support, and the spring damper is mounted on the outer side of the support and the two ends respectively support the boss connecting the shaft and the support.
  • the two pairs of connecting shaft assemblies between the spherical inner shell and the spherical middle shell have the same structural size
  • the sliding bearing comprises a spring damper, a bearing, a connecting shaft, a sliding bearing, an inner bearing bush, an outer bearing bush, a bearing pressing plate and a screw;
  • the sliding bearing is fixed on the connecting shaft by a bearing pressing plate and a screw, and an inner bearing bush is disposed between the inner wall of the sliding bearing and the connecting shaft, and the connecting shaft is supported on the outer wall of the spherical inner casing, and the supporting bracket is supported in the spherical shape
  • An outer bearing is disposed between the outer wall of the sliding bearing and the support, and the spring damper is mounted on the outer side of the support and the two ends respectively support the boss connecting the shaft and the support.
  • the spherical inner casing is provided with an inner hatch
  • the spherical middle shell is provided with a middle hatch
  • the spherical outer shell is provided with an outer hatch
  • the inner hatch, the middle hatch and the outer hatch are all provided with a circular hatch
  • the inner shaft cover pin assembly is connected to the inner wall of the inner casing, is pressed by the inner hatch pressure plate mounted on the inner wall of the inner casing, and is sealed by the O-ring
  • the middle hatch is connected to the pin shaft assembly and the inner casing through the middle hatch
  • the outer wall is connected, and is pressed by the middle hatch pressing plate mounted on the outer wall of the middle casing, and sealed by an O-ring
  • the outer hatch is connected to the outer wall of the outer casing through the outer hatch connecting pin assembly through the outer casing mounted on the outer wall of the outer casing
  • the cover plate is pressed and sealed by an O-ring.
  • the inner hatch pressure plate is connected to the inner casing through a mandrel assembly, and is pressed by a screw assembly;
  • the middle hatch pressure plate is connected to the middle shell through a spindle assembly, and is pressed by a screw assembly;
  • the outer hatch pressure plate passes through the heart
  • the shaft assembly is attached to the housing and is tightened by a screw assembly.
  • the spherical inner shell, the spherical middle shell, and the spherical outer shell have a proportional relationship between diameters D 1 , D 2 , and D 3 of 2:3:4, and the spherical inner shell has a diameter of 2.2 to 3.1 m.
  • the ratio of the diameters L 1 , L 2 , and L 3 of the inner hatch, the middle hatch, and the outer hatch is 1:1:2, and the diameter of the inner hatch is 0.7 m to 1.1 m.
  • the cabin hose and joint assembly are connected to the middle hatch joint and the outer hatch joint.
  • the middle tank between the spherical inner shell and the spherical middle shell is connected to the external auxiliary submersible to maintain the middle compartment between the spherical inner shell and the spherical middle shell.
  • the outer tank between the middle shell and the outer shell is connected to the external auxiliary submersible through the outer hatch pipe joint, and the outer tank air pressure between the middle shell and the outer shell is maintained to be half of the external water pressure at the working depth of the submersible;
  • the outer hatch pipe joint is a three-layer nested metal joint, and the inner, middle and outer layers are respectively connected to the inner tank, the middle tank and the outer tank through a metal hose; the inner hatch joint and the middle hatch Both the pipe joint and the outer hatch pipe joint are threadedly connected to the inner hatch, the middle hatch and the outer hatch, respectively, and sealed by an O-ring.
  • a pair of symmetric limit buffering devices are disposed between the spherical inner shell and the spherical middle shell, between the spherical middle shell and the spherical outer shell, and the limit buffer device between the spherical inner shell and the spherical middle shell is connected with the spherical inner shell
  • the axis of the connecting shaft assembly between the shell and the spherical middle shell is perpendicular
  • the limiting buffer connecting line between the spherical middle shell and the spherical outer shell is perpendicular to the connecting axis of the spherical middle shell and the spherical outer shell.
  • the pair of limiting buffer devices between the spherical inner shell and the spherical middle shell have the same structural size, and the limiting buffer device comprises an upper supporting plate, a middle supporting plate, a lower supporting plate, an upper hydraulic damper and a lower hydraulic damper.
  • the upper support plate is welded to the outer wall of the spherical inner casing, and the upper support plate and the lower support plate are respectively disposed on the lower support plate support connected to the inner wall of the spherical middle case, the lower support plate lower support, the upper hydraulic damper and
  • the lower hydraulic damper is symmetrically arranged with the middle support plate, and the upper hydraulic resistance
  • One end of the inner and lower hydraulic dampers is connected to the middle support plate through the universal joint, the other end of the upper hydraulic damper passes through the universal joint and the upper support plate, and the other end of the lower hydraulic damper passes through the universal joint and the lower support plate. connection.
  • the pair of limiting buffer devices between the spherical middle shell and the spherical outer shell have the same structural size, and the limiting buffer device comprises an upper supporting plate, a middle supporting plate, a lower supporting plate, an upper hydraulic damper and a lower hydraulic damper,
  • the middle support plate is welded to the outer wall of the spherical inner casing, and the upper support plate and the lower support plate are respectively disposed on the lower support plate supported on the inner wall of the spherical middle shell, the lower support plate lower support, the upper hydraulic damper and the lower
  • the hydraulic damper is symmetrically arranged with the middle support plate, one end of the upper hydraulic damper and the lower hydraulic damper passes through the universal joint and the middle support plate, and the other end of the upper hydraulic damper passes through the universal joint and the upper support plate, and the lower hydraulic damper The other end is connected to the lower support plate by a universal joint.
  • the lower support plate and the lower support plate lower support are composed of two symmetrical semi-supports, and the two semi-supports are respectively welded to the edges of the corresponding hemispherical shells, and the two hemispherical shells are assembled into a complete In the case of the spherical shell, the upper support plate and the lower support plate are respectively engaged with the corresponding two half supports.
  • a weight is placed on the bottom of the spherical inner shell, the spherical middle shell, and the spherical outer shell.
  • the inner, middle and outer casings of the present invention respectively correspond to the inner bracket, the balance ring and the outer bracket of the two-axis gyroscope.
  • the connecting shaft between each set of adjacent housings has two degrees of freedom of rotation and axial movement, and if the inner casing is fixed, the outer casing has four degrees of freedom. Because the inner shell and the personnel and articles in the cabin have a large inertia, the swinging and moving of the outer shell relative to the horizontal plane is basically eliminated after reaching the inner compartment through the balance of the two sets of spring dampers and hydraulic dampers, thereby ensuring The stability of the inner cabin.
  • the three-layer nested pipe joint of the outer hatch is connected to the press, and the air pressure in the inner tank is maintained to a standard atmospheric pressure by the inner tank metal hose assembly.
  • the middle ring hole of the three-layer nested pipe joint of the outer hatch covers the middle tank through the middle cabin metal hose group, and the presence of the vacuum medium cabin reduces the heat loss of the inner tank and also isolates the external noise.
  • the outer ring hole of the three-layer nested pipe joint 121 of the outer hatch cover is filled with high-pressure inert light gas helium gas, and the air pressure is half of the external water pressure corresponding to the working water depth, which greatly improves the work of the submersible.
  • Safety also broadens the range of materials used in the manufacture of submersible pressure shells. Due to the existence of the leak, in order to maintain a standard atmospheric pressure of the inner compartment, the vacuum of the middle compartment and the high pressure of the outer compartment, it is necessary to connect the three-layer nested pipe joint 121 of the outer hatch to the auxiliary submersible to maintain the internal correspondence of the three-layer cabin. Air pressure.
  • the self-balancing pressure-resistant shell device of the present invention has a three-layer structure.
  • the outermost shell is equivalent to the outer gyroscope bracket
  • the middle shell is equivalent to the gyroscope balance ring
  • the inner shell is equivalent to the inner gyroscope bracket
  • the three shell shells are respectively connected by two sets of rotary shafts, and
  • the axis of rotation between the middle layer and the middle and outer layers is 90 degrees.
  • Both sets of shaft ends are equipped with springs, which can reduce the axial impact between two adjacent shells and resist relative rotational movement. Since the spring damper is added at the connecting shaft end of the adjacent casing, the sway of the outer casing in the horizontal direction is greatly weakened after being transmitted to the inner casing through the action of the intermediate casing and the spring.
  • the mechanical self-balancing device Due to the mechanical self-balancing device, it is a passive control mode, which simplifies the control system, improves the reliability of the work of the submersible and the smoothness of the operation, and improves the comfort of the working environment of the submarine.
  • the middle compartment between the middle and inner casings is a vacuum, which prevents the loss of heat and the propagation of sound, maintains a relatively stable temperature inside the inner compartment, and isolates the external propulsion system from large noise, so that the cabin The working environment has been greatly improved.
  • Figure 1 is a front elevational view, in full section, of a self-balancing pressure-resistant casing assembly.
  • Figure 2 is a full cross-sectional left side view of the total assembly of the self-balancing pressure-resistant shell device.
  • Figure 3 is a full cutaway plan view of the total assembly of the self-balancing pressure-resistant shell device.
  • FIG 4 is a partial enlarged cross-sectional view of the outer hatch pressure plate assembly 7 and the outer hatch seal.
  • Figure 5 is a partial enlarged cross-sectional view of the middle hatch pressure plate assembly 8 and the middle hatch seal.
  • Figure 6 is a partial enlarged cross-sectional view of the inner hatch pressure plate assembly 9 and the inner hatch seal.
  • Figure 7 is a partial enlarged cross-sectional view of the outer hatch three-layer nested pipe joint assembly 12 and the metal hose joint.
  • Figure 8 is a partially enlarged cross-sectional view showing the middle hatch pipe joint assembly 11 and the metal hose joint.
  • Figure 9 is a partial enlarged cross-sectional view of the inner hatch pipe joint assembly 10 and the metal hose joint.
  • Figure 10 is a partially enlarged cross-sectional view showing the inner and middle case connecting shaft assembly 15.
  • Figure 11 is a partial enlarged cross-sectional view of the inner and middle case connecting shaft assembly 16.
  • Figure 12 is a partial enlarged cross-sectional view showing the middle case and outer casing connecting shaft assembly 17.
  • Figure 13 is a partial enlarged cross-sectional view of the middle and outer casing connecting shaft assembly 18.
  • Figure 14 is a partial bottom plan view of the inner hatch assembly 21 and the inner hatch pressure plate assembly 9.
  • Figure 16 is a partial plan view of the outer hatch assembly 19 and the outer hatch pressure plate assembly 7.
  • 17 is a partial enlarged cross-sectional view of the inner and middle case swing buffer and limit assembly 22.
  • Figure 18 is a partial enlarged cross-sectional view of the inner and middle casing slewing buffer and limit assembly 23.
  • 19 is a partial enlarged cross-sectional view of the middle and outer casing swing buffer and limit assembly 24.
  • 20 is a partial enlarged cross-sectional view of the middle case and outer casing swivel cushioning and limiting assembly 25.
  • the present invention is composed of a spherical inner shell, a spherical middle shell, and a spherical outer shell surrounding the spherical core set from the inside to the outside.
  • the spherical inner shell and the spherical middle shell, the spherical middle shell and the spherical outer shell are axially connected by a pair of sliding bearings, and the two axes are perpendicular to each other, so that the spherical inner shell and the spherical middle shell, the spherical middle shell and the spherical outer shell can rotate with each other. .
  • a spring damper is mounted on the outer layers of the two sets of connecting shafts to resist axial impact between adjacent housings.
  • the spherical inner shell is composed of two hemispheres of the inner shell I1 and the inner shell II2, and the spherical middle shell is composed of two hemispheres of the middle shell I3 and the middle shell I4I, and the spherical outer shell is composed of two hemispheres of the outer shell I5 and the outer shell II6.
  • Fig. 10 and Fig. 11 show a pair of shaft assemblies connecting the middle case and the outer casing. Since the structural dimensions are completely the same, it will be described with reference to Fig. 9 as an example.
  • the connecting shaft assembly between the middle casing and the outer casing includes a spring damper, a sliding bearing support, a connecting shaft, a sliding bearing and a bearing bush, a bearing pressure plate and a screw.
  • the plain bearings are made of integral self-lubricating bearings and are greased during the first installation.
  • the sliding bearing is fixed to the outer nacelle shaft 153 by a pressure plate 154 and a screw 155 and supported by the outer nacelle shaft support 152.
  • the spring damper 151 is mounted on the outer side of the support 152 and the bosses are tightened at both ends.
  • 12 and FIG. 13 are a pair of shaft assemblies connecting the inner and middle casings. Since the structural dimensions are completely the same, an example will be described with reference to FIG.
  • the connecting shaft assembly between the inner and middle casings includes a spring damper, a sliding bearing support, a connecting shaft, a sliding bearing and a bearing bush, a bearing platen and a screw.
  • the sliding bearing is fixed to the center shaft 173 by a pressure plate 174 and a screw 175 and supported by the center shaft support 172.
  • the spring damper 171 is mounted on the outside of the support 172 and the bosses are tightened at both ends. Each connecting shaft and the support are welded to the corresponding housing.
  • FIG. 17 and FIG. 18 are the limit and cushioning devices for the rotary motion between the inner and middle casings
  • FIGS. 19 and 20 are the limit and cushioning devices for the rotary motion between the inner casing and the outer casing. Since each limit is the same as the structure of the buffer device, it will be described by taking FIG. 17 as an example.
  • the entire limit buffer device includes upper, middle and lower support plates and corresponding supports, two symmetrically arranged hydraulic dampers and four universal joints for connecting the hydraulic damper and the support plate.
  • the limiting buffer connecting line between the inner shell and the middle shell is perpendicular to the connecting axis
  • the limiting buffer connecting line between the middle shell and the outer shell is perpendicular to the connecting axis.
  • the upper and lower support plate supports of the hydraulic damper are composed of two symmetrical semi-supports, which are respectively welded to the edges of the corresponding hemispherical shells, and when the two hemispherical shells are assembled into a complete spherical shell, the hydraulic pressure
  • the upper and lower support plates of the damper are respectively engaged with the corresponding two half supports.
  • the proportional relationship between the diameters D 1 , D 2 and D 3 of the inner, middle and outer shells is 2:3:4, wherein the inner shell diameter
  • the value ranges from 2.2 to 3.1 m.
  • the pressure of the middle shell and the outer casing is relatively high, and high-strength alloy materials are required. Titanium alloys are recommended.
  • the specific thicknesses of h 2 and h 3 are calculated according to the designed water depth of the submersible. Since the inner shell is subjected to a small pressure, ordinary low-carbon alloy steel can be used, and the thickness h 1 is calculated according to the allowable stress of the material and the atmospheric pressure to be subjected.
  • the inner hatch 212 is connected to the inner wall of the inner casing through the inner hatch coupling pin assembly 213, is pressed by the inner hatch pressure plate 93 mounted on the inner wall of the inner casing, and is sealed by the O-ring 211;
  • the middle hatch 202 passes
  • the middle hatch coupling pin assembly 203 is connected to the outer wall of the inner casing, is pressed by the middle hatch pressure plate 82 mounted on the outer wall of the middle casing, and is sealed by the O-ring 201;
  • the outer hatch 192 is connected to the pin assembly through the outer hatch cover.
  • the 193 is connected to the outer wall of the outer casing and is pressed by the outer hatch pressure plate 72 mounted on the outer wall of the outer casing, and is sealed by the O-ring 191.
  • the inner hatch pressure plate 93 is connected to the inner casing through the mandrel assembly 91, and is pressed by the screw assembly 92;
  • the middle hatch pressure plate 82 is connected to the middle casing through the mandrel assembly 81, and is pressed by the screw assembly 83;
  • the outer hatch pressure plate 72 passes
  • the mandrel assembly 73 is coupled to the outer casing and is tightened by a screw assembly 71.
  • the ratio of the diameters of the inner, middle and outer hatches L 1 , L 2 and L 3 is 1:1:2, of which the diameter of the inner hatch The value ranges from 0.7m to 1.1m.
  • the inner compartment is connected to the external auxiliary submersible by the inner compartment metal hose and joint assembly 14, the inner hatch joint 101, and the outer hatch joint 121 to maintain a standard atmospheric pressure of the inner compartment inside the inner casing.
  • the middle and outer shells of the spherical inner shell and the spherical middle shell are connected to the external auxiliary submersible through the middle cabin metal hose and joint assembly 13, the middle hatch joint 111, and the outer hatch joint 121 to maintain the inner and middle shells.
  • the outer compartment is connected to the external auxiliary submersible through the outer hatch joint 121 to maintain the outer cabin air pressure between the middle shell and the outer casing as half of the external water pressure at the working depth of the submersible.
  • the outer hatch pipe joint 121 is a three-layer nested metal joint, and the inner, middle and outer layers are respectively connected with the inner tank, the middle tank and the outer tank.
  • the inner tank metal hose joint assembly connecting the inner tank metal hose 144 and the outer hatch pipe joint 121 includes a nut 141, a seal ring 142, a seal bushing 143, and an inner tank metal hose 144 and an inner hatch pipe joint 101.
  • the inner tank metal hose joint assembly 14 includes a seal bushing 145, a seal ring 146, a nut 147, and a middle tank metal hose joint assembly connecting the middle tank metal hose 134 and the outer hatch pipe joint 121 including a seal ring 132 and a seal liner
  • the sleeve 133, the nut 131; the middle compartment metal hose joint assembly connecting the middle compartment metal hose 134 and the middle hatch pipe joint 111 includes a seal bushing 135, a seal ring 136, and a nut 137.
  • the three-layer hatch fittings are threaded to the hatch and sealed by O-rings.
  • the assembly process of the present invention is:
  • the three-layer shell parts are all in the form of a hemispherical shell structure, and the two hemispherical shells are formed by bolting or welding (in this embodiment, welding is taken as an example) to form the entire spherical shell.
  • welding is taken as an example
  • the inner hatch 7 and other large equipment are placed between the two hemispherical structures of the inner casing, and the two hemispherical parts of the inner casing are butted and welded into a complete inner part. shell.
  • the two middle cabin shafts 173 and 183 are symmetrically welded to both ends of the inner casing, and then the grease-coated sliding bearing 177 and the sliding bearing 187 are respectively mounted on the two shafts, and the middle cabin bearing pressure plate 174 and the middle cabin bearing are covered.
  • the platen 184 is screwed into the mid-housing bearing platen screw 175 and the mid-housing bearing platen screw 185.
  • the middle cabin bearing support 172 and the middle cabin bearing support 182 are respectively welded to the inner walls of the two hemispherical parts of the middle casing, and the middle cabin spring damper 171 and the middle cabin spring damper 181 are respectively mounted on the middle cabin bearing support. 172 and the outer side of the middle bearing support 182.
  • the inner middle slewing buffer and the limiting device 22, the middle slewing buffer and the middle support plate of the limiting device 23 are symmetrically welded to the outer wall of the inner casing, and then the ends of the four hydraulic dampers with universal joints are respectively welded. On the two sides of the corresponding middle support plate, the other ends are respectively welded to one side of the corresponding upper and lower support plates.
  • the two symmetrical half-bearings of the upper and lower support plate supports of the hydraulic damper connecting the inner and middle casings are respectively welded to the edges of the corresponding hemispherical shells.
  • the outer casing shaft 153 and the outer casing shaft 163 are symmetrically welded to both ends of the middle casing, and then the grease-coated sliding bearing 157 and the sliding bearing 167 are respectively mounted on the two shafts, and the outer casing bearing pressure plate 154 is covered.
  • the outer casing bearing platen 164 is screwed into the outer casing bearing platen screw 155 and the outer casing bearing platen screw 165.
  • the outer casing bearing support 152 and the outer casing bearing support 162 are respectively welded to the inner walls of the two hemispherical parts of the outer casing, and the outer casing spring damper 151 and the outer casing spring damper 161 are respectively mounted on the outer casing bearing support 152 and The outer side of the outer casing bearing support 162.
  • the middle and outer cabin slewing buffers and the limiting device 24, the outer tank slewing buffer and the middle support plate of the limiting device 25 are symmetrically welded on the outer wall of the middle casing, and then one ends of the four hydraulic dampers with universal joints are respectively welded at Corresponding to both sides of the middle support plate, the other ends are respectively welded to one side of the corresponding upper and lower support plates.
  • the two symmetrical half-bearings of the upper and lower support plate supports of the hydraulic damper connecting the middle case and the outer casing are respectively welded to the edges of the corresponding hemispherical shells.
  • the sealing ring 211, the sealing ring 201 and the sealing ring 191 of the three-layer hatch are first loaded.
  • the inner hatch 212 which has been placed in the inner compartment, is mounted on the inner casing by the inner hatch coupling pin assembly 213, and the inner hatch pressure plate 93 is fitted to the inner hatch platen spindle assembly 91 and snapped into the shaft end.
  • the retaining ring after closing the inner hatch, is screwed into the inner hatch platen screw assembly 92.
  • the middle hatch 202 is mounted on the middle casing through the middle hatch coupling pin assembly 203, the middle hatch pressure plate 82 is mounted on the middle hatch platen spindle assembly 81, and the shaft end retaining ring is snapped into the closed middle compartment. After the cover, screw into the middle hatch platen screw assembly 83.
  • the outer hatch cover 192 is mounted on the outer casing through the outer hatch joint pin assembly 193, and the outer hatch pressure plate 16 is mounted on the outer hatch platen spindle assembly 73 and snapped into the shaft end retaining ring, after closing the outer hatch cover , screw into the outer hatch platen screw 71.
  • the three-layer hatch pipe joint sealing ring is first installed on the corresponding pipe joint.
  • the inner hatch pipe joint 101, the middle hatch pipe joint 111, and the outer hatch pipe joint 121 are respectively mounted on the corresponding inner hatch 212, middle hatch 202, outer hatch 192 and tightened.
  • the inner tank hose assembly 14 is passed through the mid-cavity hose assembly 13 and the middle hatch joint 111, and the two joints of the inner tank metal hose are respectively tightened to the inner hatch joint 101 and the outer hatch joint 121 And tighten the two joints of the mid-housing metal hose to the middle hatch fitting 111 and the outer hatch fitting 121, respectively.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Joints Allowing Movement (AREA)
  • Vibration Prevention Devices (AREA)
  • Pressure Vessels And Lids Thereof (AREA)

Abstract

一种自平衡耐压壳装置，属于一种深海潜水器耐压结构技术领域，其从内向外依次由球形内壳 (1,2)、球形中壳 (3,4)、球形外壳 (5,6)环绕球心套装组成；所述球形内壳与球形中壳之间、球形中壳与球形外壳之间均通过一对对称同轴的连接轴组件 (15,16,17,18)连接，两对连接轴组件的轴线相互垂直，使得球形内壳与球形中壳之间、球形中壳与球形外壳之间可相互转动；两对连接轴组件均设有弹簧阻尼器 (151,161,171,181)，抵抗相邻壳体之间的轴向冲击。该装置简化了控制系统，提高了潜水器工作的可靠性与运行的平稳性，改善了舱内的噪音，提高了潜航员工作环境的舒适性；提高了潜水器工作的安全性，扩宽了材料的可选择范围，减小了壳体的厚度，降低了壳体的加工难度。

Description

一种自平衡耐压壳装置 技术领域
本发明涉及一种深海潜水器耐压结构件，尤其涉及到一种三层自平衡压力递减式耐压壳装置。属于潜水器技术领域。
背景技术
随着海洋开发速度不断加快，从近海到远海探索深度不断增加，各种作业目的的潜水器种类繁多、发展迅速，主要用于海洋资源勘探与开发、科学研究、军事探测和打捞等方面。潜水器是大洋勘查与深海科学研究的重要装备，作为潜水器的重要组成部分，耐压壳起着保障下潜过程中内部设备正常工作和人员健康安全的作用，其重量占潜水器总重的1/4～1/2。耐压壳设计对潜水器安全性、载运能力和人机环等性能具有重要影响。潜水器在深海承受高压和低温，海水的流动也会造成潜水器的晃动。然而，潜水器所携带的各种仪器设备常常需要在常温常压下工作，潜航员的生存条件也需要和陆面接近。因此，对潜水器的耐压结构提出了很高的要求。
深海潜水器主要存在如下问题：
(1)深海潜水器在复杂的海底工况下将产生较大的晃动，对内部各种仪器装备的稳定工作和科研人员的工作环境造成较大的影响。现代的潜水器主要通过较为复杂的负反馈闭环控制系统控制布置在潜水器周围的多组推进器调节潜水器的姿态并减小这种晃动。但是，这种控制方式需要消耗较多的能量，整个控制系统的结构也较为复杂且可靠性不高。对于单层壳体的耐压壳，即使采用在底部增加配重的方法也很难消除或减少外界海水流动造成耐压壳的晃动。
(2)对于深海潜水器，耐压壳体所承受的外部水压力较大。如果采用常规的单层壳体耐压壳，需使用高强度材料或增加壳体的厚度，材料的可选用范围较小、加工难度较大。
(3)深海潜水器在工作过程中将产生巨大的噪音，严重干涉科研人员的水下作业与通信装置的正常工作，壳体需要具有很好的隔声性能。在深海处水温较低，壳体还需要具有很好的隔热保温功能。现代潜水器多采用复合材料或特殊形状的板壳结构来减弱噪声，但是，这种隔音方式只能在一定范围内减弱噪声，很难将噪声消除或降到较低值。为了维持在低温环境下舱内的恒温，常采用大功率的温控装置和保温层材料来维持潜水器舱内恒定的温度，但是，这种恒温方法对温控设备的性能要求较高，温控设备需要消耗较多的能量。
发明内容
针对上述存在的问题，本发明提供一种全新的自平衡压力递减式耐压壳装置。
为达到上述目的，本发明的技术方案为：
一种自平衡耐压壳装置，从内向外依次由球形内壳、球形中壳、球形外壳环绕球心套装组成；所述球形内壳与球形中壳之间、球形中壳与球形外壳之间均通过一对对称同轴的连接轴组件连接，两对连接轴组件的轴线相互垂直，使得球形内壳与球形中壳之间、球形中壳与球形外壳之间可相互转动；两对连接轴组件均设有弹簧阻尼器，抵抗相邻壳体之间 的轴向冲击。
所述球形内壳由内壳I和内壳II两个半球连接构成，所述球形中壳由中壳I和中壳II两个半球连接构成，所述球形外壳由外壳I和外壳II两个半球连接构成。
所述球形中壳与球形外壳之间的两对连接轴组件结构尺寸相同，滑动轴承组件包括弹簧阻尼器、支座、连接轴、滑动轴承、内轴瓦、外轴瓦、轴承压板和螺钉；所述滑动轴承通过轴承压板与螺钉固定在连接轴上，所述滑动轴承的内壁与连接轴之间设有内轴瓦，所述连接轴支撑在球形中壳的外壁上，所述支座支撑在球形外壳的内壁上，所述滑动轴承的外壁与支座之间设有外轴瓦，所述弹簧阻尼器装在支座外侧且两端分别顶紧连接轴和支座的凸台。所述球形内壳与球形中壳之间的两对连接轴组件结构尺寸相同，滑动轴承包括弹簧阻尼器、支座、连接轴、滑动轴承、内轴瓦、外轴瓦、轴承压板和螺钉；所述滑动轴承通过轴承压板与螺钉固定在连接轴上，所述滑动轴承的内壁与连接轴之间设有内轴瓦，所述连接轴支撑在球形内壳的外壁上，所述支座支撑在球形中壳的内壁上，所述滑动轴承的外壁与支座之间设有外轴瓦，所述弹簧阻尼器装在支座外侧且两端分别顶紧连接轴和支座的凸台。
所述球形内壳设有内舱口，球形中壳设有中舱口，球形外壳设有外舱口，内舱口、中舱口和外舱口都装有圆形舱盖；内舱盖通过内舱盖连接销轴组件与内壳内壁相连，通过装在内壳内壁上的内舱盖压板压紧，由O型密封圈密封；中舱盖通过中舱盖连接销轴组件与内壳外壁相连，通过装在中壳外壁上的中舱盖压板压紧，由O型密封圈密封；外舱盖通过外舱盖连接销轴组件与外壳外壁相连，通过装在外壳外壁上的外舱盖压板压紧，由O型密封圈密封。所述内舱盖压板通过心轴组件与内壳相连，由螺钉组件压紧；所述中舱盖压板通过心轴组件与中壳相连，由螺钉组件压紧；所述外舱盖压板通过心轴组件与外壳相连，由螺钉组件顶紧。
所述球形内壳、球形中壳、球形外壳壳体的直径D1、D2、D3之间的比例关系为2:3:4，所述球形内壳的直径为2.2～3.1m。所述内舱口、中舱口和外舱口的直径L1、L2、L3之间的比例关系为1:1:2，内舱口的直径为0.7m～1.1m。
通过内舱软管与接头组件连接内舱盖管接头与外舱盖管接头将球形内壳内部的内舱与外部的辅助潜水器相连，维持球形内壳内部的内舱一个标准大气压；通过中舱软管与接头组件连接中舱盖管接头与外舱盖管接头将球形内壳与球形中壳之间中舱与外部的辅助潜水器相连，维持球形内壳与球形中壳之间中舱的真空；通过外舱盖管接头将中壳与外壳之间的外舱与外部的辅助潜水器相连，维持中壳与外壳之间的外舱气压为潜水器工作水深处外部水压的一半；所述外舱盖管接头为三层嵌套式金属接头，内、中、外三层分别通过金属软管与内舱、中舱、外舱相连；所述内舱盖管接头、中舱盖管接头和外舱盖管接头均通过螺纹分别与内舱盖、中舱盖和外舱盖连接并由O型密封圈实现密封。
所述球形内壳与球形中壳之间、球形中壳与球形外壳之间均设有一对对称的限位缓冲装置，球形内壳与球形中壳之间的限位缓冲装置连线与球形内壳与球形中壳之间连接轴组件的轴线垂直，球形中壳与球形外壳之间的限位缓冲装置连线与球形中壳与球形外壳连接轴线垂直。所述球形内壳与球形中壳之间的一对限位缓冲装置结构尺寸相同，限位缓冲装置包括上支撑板、中支撑板、下支撑板、上液压阻尼器和下液压阻尼器，所述中支撑板与球形内壳外壁焊接，所述上支撑板、下支撑板分别设于连接在球形中壳内壁的下支撑板上支座、下支撑板下支座上，上液压阻尼器和下液压阻尼器以中支撑板对称布置，上液压阻 尼器和下液压阻尼器的一端通过万向节与中支撑板连接，上液压阻尼器的另一端通过万向节与上支撑板，下液压阻尼器的另一端通过万向节与下支撑板连接。所述球形中壳与球形外壳之间的一对限位缓冲装置结构尺寸相同，限位缓冲装置包括上支撑板、中支撑板、下支撑板、上液压阻尼器和下液压阻尼器，所述中支撑板与球形内壳外壁焊接，所述上支撑板、下支撑板分别设于连接在球形中壳内壁的下支撑板上支座、下支撑板下支座上，上液压阻尼器和下液压阻尼器以中支撑板对称布置，上液压阻尼器和下液压阻尼器的一端通过万向节与中支撑板，上液压阻尼器的另一端通过万向节与上支撑板，下液压阻尼器的另一端通过万向节与下支撑板连接。
所述下支撑板上支座、下支撑板下支座由两个对称的半支座组成，两个半支座分别焊在对应的半球壳的边缘，在将两个半球壳装配成完整的球壳时，上支撑板、下支撑板分别卡入对应的两个半支座。
所述球形内壳、球形中壳、球形外壳的底部均放置配重。
本发明的内、中、外层壳体分别相当于二轴陀螺仪的内支架、平衡环和外支架。每组相邻壳体之间的连接轴具有转动和轴向移动两个自由度，若假设内层壳体固定，则外层壳体具有四个自由度。因为内层壳体和舱内人员与物品具有较大的惯性，外层壳体相对于水平面的摆动与移动在经过两组弹簧阻尼器和液压阻尼器的平衡到达内舱后基本消除，保证了内舱的平稳性。
潜水器下水之前，关闭三层舱门。将外舱盖三层嵌套式管接头与压力机相连，通过内舱金属软管组件维持内舱里的气压为一个标准大气压。由外舱盖三层嵌套式管接头的中层环孔通过中舱金属软管组将中舱抽成真空，真空中舱的存在，减少了内舱热量的散失，也隔绝了外部的噪声。由外舱盖三层嵌套式管接头121的外层环孔向外舱充入高压惰性轻质气体氦气，气压为对应工作水深处外界水压的一半，极大地提高了潜水器工作的安全性，也扩宽了潜水器耐压壳制造过程中材料的取用范围。由于泄漏的存在，为了维持内舱的一个标准大气压、中舱的真空和外舱的高压，需要将外舱盖三层嵌套式管接头121接入辅助潜水器，维持三层舱体内部对应的气压。
本发明具有以下有益效果：
(1)借鉴两轴陀螺仪的结构原理，本发明的自平衡耐压壳装置，具有三层结构。最外层壳体相当于陀螺仪外支架，中层壳体相当于陀螺仪平衡环，内层壳体相当于陀螺仪内支架，三层壳体之间分别通过两组回转轴连接，且内、中层与中、外层之间的回转轴线成90度。由于采用了这种二轴陀螺仪式三层回转壳体结构，所以外层壳体的左右和前后摇摆运动传到内层壳体后已大大减弱，维持了内层壳体的相对平衡与稳定。
两组轴端均装有弹簧，可以降低两相邻壳体之间的轴向冲击并抵抗相对回转运动。由于在相邻壳体连接轴端增加了弹簧阻尼器，所以外层壳体沿水平方向的晃动通过中层壳体和弹簧的作用传到内层壳体后已大大减弱。
由于采用机械式自平衡装置，属于被动控制方式，所以简化了控制系统，提高了潜水器工作的可靠性与运行的平稳性，提高了潜航员工作环境的舒适性。
(2)由于在中壳和外壳之间的外舱内充有高压轻质气体，所以从潜水器耐压壳外部——外、中壳之间的外舱——中、内壳之间的中舱压力递减，相对于仅外部承受高压的单层壳体，稳定性有了很大的提升。从而提高了潜水器工作的安全性，扩宽了材料的可选择范 围，减小了壳体的厚度，降低了壳体的加工难度。
(3)中壳和内壳之间的中舱内为真空，阻止了热量的散失和声音的传播，维持了内舱内部相对稳定的温度，隔绝了外部推进系统较大的噪声，使舱内的工作环境大大改善。
附图说明
图1为自平衡耐压壳装置总装配全剖主视图。
图2为自平衡耐压壳装置总装配全剖左视图。
图3为自平衡耐压壳装置总装配全剖俯视图。
图4为外舱盖压板组件7与外舱盖密封件局部放大剖视图。
图5为中舱盖压板组件8与中舱盖密封件局部放大剖视图。
图6为内舱盖压板组件9与内舱盖密封件局部放大剖视图。
图7为外舱盖三层嵌套式管接头组件12与金属软管接头局部放大剖视图。
图8为中舱盖管接头组件11与金属软管接头局部放大剖视图。
图9为内舱盖管接头组件10与金属软管接头局部放大剖视图。
图10为内壳与中壳连接轴组件15局部放大剖视图。
图11为内壳与中壳连接轴组件16局部放大剖视图。
图12为中壳与外壳连接轴组件17局部放大剖视图。
图13为中壳与外壳连接轴组件18局部放大剖视图。
图14为内舱盖组件21与内舱盖压板组件9局部仰视图。
图15为中舱盖组件20与中舱盖压板组件8局部俯视图。
图16为外舱盖组件19与外舱盖压板组件7局部俯视图。
图17为内壳与中壳回转缓冲与限位组件22的局部放大剖视图。
图18为内壳与中壳回转缓冲与限位组件23的局部放大剖视图。
图19为中壳与外壳回转缓冲与限位组件24的局部放大剖视图。
图20为中壳与外壳回转缓冲与限位组件25的局部放大剖视图。
其中，1-内壳I，2-内壳II，3-中壳I，4-中壳II，5-外壳I，6-外壳II，7-外舱盖压板组件，71-外舱盖压板螺钉，72-外舱盖压板，73-外舱盖心轴，8-中舱盖压板组件，81-中舱盖心轴，82-中舱盖压板，83-中舱盖螺钉，9-内舱盖压板组件，91-内舱盖心轴，92-内舱盖螺钉，93-内舱盖压板，10-内舱盖管接头组件，101-内舱盖管接头，102-内舱盖管接头密封圈，11-中舱盖管接头组件，111-中舱盖管接头，112-中舱盖管接头密封圈，12-外舱盖管接头组件，121-外舱盖管接头，122-外舱盖管接头密封圈，13-中舱软管与接头组件，131-中舱软管螺母I，132-中舱软管密封圈I，133-中舱软管密封衬套I，134-中舱软管，135-中舱软管密封衬套II，136-中舱软管密封圈II，137-中舱软管螺母II，14-内舱软管与接头组件，141-内舱软管螺母I，142-内舱软管密封圈I，143-内舱软管密封衬套I，144-内舱软管，145-内舱软管密封衬套II，146-内舱软管密封圈II，147-内舱软管螺母II，15-中壳与外壳连接轴组件I，151-弹簧阻尼器，152-支座，153-连接轴，154-轴承压板，155-螺钉，156-内轴瓦，157-滑动轴承，158-外轴瓦，16-中壳与外壳连接轴组件II，161-弹簧阻尼器，162-支座，163-连接轴，164-轴承压板，165-螺钉，166-轴瓦，167-滑动轴承，168-轴瓦，17-内壳与中壳连接轴组件I，171-弹簧阻尼器，172-支座，173-连接 轴，174-轴承压板，175-螺钉，176-内轴瓦，177-滑动轴承，178-外轴瓦，18-内壳与中壳连接轴组件II，181-弹簧，182-支座，183-连接轴，184-轴承压板，185-螺钉，186-内轴瓦，187-滑动轴承，188-外轴瓦，19-外舱盖组件，191-内舱盖密封圈，192-内舱盖，193-外舱盖连接销轴，20-中舱盖组件，201-中舱盖密封圈，202-中舱盖，203-中舱盖联接销轴，21-内舱盖组件，211-内舱盖密封圈，212-内舱盖，213-内舱盖连接销轴，22-内中壳回转缓冲限位装置I，221-上支撑板，222-万向节，223-上液压阻尼器，224-万向节，225-中支撑板，226-万向节，227-下液压阻尼器，228-万向节，229-下支撑板，2210-下支撑板上支座，2211-下支撑板下支座，23-内中壳回转缓冲限位装置II，231-上支撑板，232-万向节，233-上液压阻尼器，234-万向节，235-中支撑板，236-万向节，237-下液压阻尼器，238-万向节，239-下支撑板，24-中外壳回转缓冲限位装置I，241-上支撑板，242-万向节，243-上液压阻尼器，244-万向节，245-中支撑板，246-万向节，247-下液压阻尼器，248-万向节，249-下支撑板，2410-下支撑板上支座，2411-下支撑板下支座，25-中外壳回转缓冲限位装置II，251-上支撑板，252-万向节，253-上液压阻尼器，254-万向节，255-中支撑板，256-万向节，257-下液压阻尼器，258-万向节，259-下支撑板，26-内壳配重，27-中壳配重，28-外壳配重。
具体实施方式
结合专利附图1—图15对本自平衡耐压壳装置的工作原理、连接与施工方式进行详细的介绍。
如图2—图9所示，本发明从内向外依次由球形内壳、球形中壳、球形外壳环绕球心套装组成。其中，球形内壳与球形中壳、球形中壳与球形外壳均通过一对滑动轴承轴向连接，两条轴线相互垂直，使得球形内壳与球形中壳、球形中壳与球形外壳可相互转动。在两组连接轴外层均装有弹簧阻尼器，可以抵抗相邻壳体之间的轴向冲击。球形内壳由内壳I1、内壳II2两个半球连接构成，球形中壳由中壳I3、中壳I4I两个半球连接构成，球形外壳由外壳I5、外壳II6两个半球连接构成。
图10与图11是连接中壳与外壳的一对轴组件，因结构尺寸完全相同，现以图9为例对其进行说明。中壳与外壳之间的连接轴组件包括弹簧阻尼器、滑动轴承支座、连接轴、滑动轴承与轴瓦、轴承压板与螺钉。滑动轴承选用整体式自润滑轴承，在第一次安装时涂抹润滑脂。
滑动轴承通过压板154与螺钉155固定在外舱轴153上并由外舱轴支座152支撑，弹簧阻尼器151装在支座152外侧且两端顶紧凸台。图12与图13是连接内壳与中壳的一对轴组件，因结构尺寸完全相同，现以图11为例对其进行介绍。内壳与中壳之间的连接轴组件包括弹簧阻尼器、滑动轴承支座、连接轴、滑动轴承与轴瓦、轴承压板与螺钉。滑动轴承通过压板174与螺钉175固定在中舱轴173上并由中舱轴支座172支撑，弹簧阻尼器171装在支座172外侧且两端顶紧凸台。各连接轴与支座均与对应的壳体焊接。
为了保证三层舱门在壳体的平衡状态下方向一致并朝上，维持整个潜水器的正确姿态，采用两种措施：第一，在各层壳体的底部均放置配重(如图1所示)，使重心偏下；第二，将弹簧阻尼器的两端与对应壳体连接或改用橡胶阻尼器。
潜水器在实际工作的过程中，为防止因三层壳体之间的相对回转造成连接管路及 其他附属设备损坏，需对各层壳体之间的相对转动进行限位，规定相邻壳体之间的转角绝对值不大于15度。同时，需对各层壳体之间的相对转动进行缓冲。图17与图18是内壳与中壳之间回转运动的限位与缓冲装置，图19与图20是中壳与外壳之间回转运动的限位与缓冲装置。因各限位与缓冲装置结构相同，现以图17为例对其进行说明。整个限位缓冲装置包括上、中、下支撑板及对应的支座，两个对称布置的液压阻尼器及用于连接液压阻尼器与支撑板的四个万向节。内壳与中壳之间的限位缓冲装置连线与连接轴线垂直，中壳与外壳之间的限位缓冲装置连线与连接轴线垂直，当潜水器处于稳定平衡状态时，两组壳体连接轴与限位缓冲装置均位于同一水平面。中支撑板与壳体焊接，万向节均与对应的支撑板焊接。液压阻尼器的上下支撑板支座均由两个对称的半支座组成，两个半支座分别焊在对应的半球壳的边缘，在将两个半球壳装配成完整的球壳时，液压阻尼器上下支撑板分别卡入对应的两个半支座。
为了保证各层壳体之间的有足够的空间，规定内、中、外层壳体的直径D1、D2、D3之间的比例关系为2:3:4，其中，内壳直径的取值范围为2.2～3.1m。中壳与外壳承受的压力较大，需采用高强度合金材料，推荐选用钛合金，厚度h2与h 3的具体大小根据潜水器的设计水深计算得出。因内壳承受的压力较小，可采用普通的低碳合金钢，厚度h1根据材料的许用应力和承受的一个大气压计算得出。
如图1所示，从下到上依次为内舱口、中舱口、外舱口，三层舱口上均装有圆形舱盖(如图13、图14、图15所示)。其中，内舱盖212通过内舱盖连接销轴组件213与内壳内壁相连，通过装在内壳内壁上的内舱盖压板93压紧，由O型密封圈211密封；中舱盖202通过中舱盖连接销轴组件203与内壳外壁相连，通过装在中壳外壁上的中舱盖压板82压紧，由O型密封圈201密封；外舱盖192通过外舱盖连接销轴组件193与外壳外壁相连，通过装在外壳外壁上的外舱盖压板72压紧，由O型密封圈191密封。
内舱盖压板93通过心轴组件91与内壳相连，由螺钉组件92压紧；中舱盖压板82通过心轴组件81与中壳相连，由螺钉组件83压紧；外舱盖压板72通过心轴组件73与外壳相连，由螺钉组件71顶紧。
为了保证三层舱盖均能顺利开闭，规定内、中、外层舱口的直径L1、L2、L3之间的比例关系为1:1:2，其中，内舱口的直径取值范围为0.7m～1.1m。
通过内舱金属软管与接头组件14、内舱盖管接头101、外舱盖管接头121将内舱与外部的辅助潜水器相连，维持内壳内部的内舱一个标准大气压。通过中舱金属软管与接头组件13、中舱盖管接头111、外舱盖管接头121将球形内壳与球形中壳之间中舱与外部的辅助潜水器相连，维持内壳与中壳之间中舱的真空。通过外舱盖管接头121将外舱与外部的辅助潜水器相连，维持中壳与外壳之间的外舱气压为潜水器工作水深处外部水压的一半。
外舱盖管接头121为三层嵌套式金属接头，内、中、外三层分别与内舱、中舱、外舱相连。连接内舱金属软管144与外舱盖管接头121的内舱金属软管接头组件包括螺母141、密封圈142、密封衬套143；连接内舱金属软管144与内舱盖管接头101的内舱金属软管接头组件14包括密封衬套145、密封圈146、螺母147；连接中舱金属软管134与外舱盖管接头121的中舱金属软管接头组件包括密封圈132、密封衬套133、螺母131；连接中舱金属软管134与中舱盖管接头111的中舱金属软管接头组件包括密封衬套135、密封圈136、螺母137。三层舱盖管接头均通过螺纹与舱盖连接并由O型密封圈实现密封。
本发明的装配工艺过程为：
(1)三层壳体
三层壳体零件均采用半球壳结构形式，两个半球壳通过螺栓连接或焊接方式(本实施例以焊接为例)形成整个球壳。在实际的三层壳体装配施工过程中，将内舱盖7及其他大型的设备放入内壳的两个半球结构之间，把内壳的两个半球形零件对接并焊接成完整的内壳。
在内壳两端对称焊上两个中舱轴173与183，然后在两轴上分别装入已涂抹润滑脂的滑动轴承177与滑动轴承187，并盖上中舱轴承压板174与中舱轴承压板184，拧入中舱轴承压板螺钉175与中舱轴承压板螺钉185。在中壳的两个半球零件内壁上分别焊上中舱轴承支座172与中舱轴承支座182，并将中舱弹簧阻尼器171与中舱弹簧阻尼器181分别装在中舱轴承支座172与中舱轴承支座182的外侧。将内中舱回转缓冲与限位装置22、中舱回转缓冲与限位装置23的中支撑板对称焊接在内壳外壁上，然后将四个带有万向节的液压阻尼器的一端分别焊接在对应中支撑板的两侧，另一端分别焊接在对应上、下支撑板的一侧。将连接内壳与中壳的液压阻尼器的上下支撑板支座的两个对称的半支座分别焊在对应的半球壳的边缘。将带有液压阻尼器上下支撑板半支座、中舱轴支座和中舱弹簧阻尼器的两个中壳半球形零件从内壳的带有中舱轴的两侧装入，使中舱轴通过滑动轴承与轴瓦组件和中舱轴支座的内孔可靠配合，将液压阻尼器上下支撑板分别卡入对应的两个半支座，然后将中壳的两个半球形零件焊接成完整的中壳。
在中壳两端对称焊上两个外舱轴153与外舱轴163，然后在两轴上分别装入已涂抹润滑脂的滑动轴承157与滑动轴承167，并盖上外舱轴承压板154与外舱轴承压板164，拧入外舱轴承压板螺钉155与外舱轴承压板螺钉165。在外壳的两个半球零件内壁上分别焊上外舱轴承支座152与外舱轴承支座162，并将外舱弹簧阻尼器151与外舱弹簧阻尼器161分别装在外舱轴承支座152与外舱轴承支座162的外侧。将中外舱回转缓冲与限位装置24、外舱回转缓冲与限位装置25的中支撑板对称焊接在中壳外壁上，然后将四个带有万向节的液压阻尼器的一端分别焊接在对应中支撑板的两侧，另一端分别焊接在对应上、下支撑板的一侧。将连接中壳与外壳的液压阻尼器的上下支撑板支座的两个对称的半支座分别焊在对应的半球壳的边缘。将带有液压阻尼器上下支撑板半支座、外舱轴支座和外舱弹簧阻尼器的两个外壳半球形零件从中壳的带有外舱轴的两侧装入，使外舱轴通过滑动轴承与轴瓦组件和外舱轴支座的内孔可靠配合，将液压阻尼器上下支撑板分别卡入对应的两个半支座，然后将外壳的两个半球形零件焊接成完整的外壳。
(2)三层舱盖
在实际的内、中、外三层舱盖及对应压板组件装配施工过程中，首先装入三层舱盖的密封圈211、密封圈201、密封圈191。将已经放在内舱里的内舱盖212通过内舱盖连接销轴组件213装在内壳上，将内舱盖压板93装在内舱盖压板心轴组件91上，并卡入轴端挡圈，在关闭内舱盖后，拧入内舱盖压板螺钉组件92。将中舱盖202通过中舱盖连接销轴组件203装在中壳上，将中舱盖压板82装在中舱盖压板心轴组件81上，并卡入轴端挡圈，在关闭中舱盖后，拧入中舱盖压板螺钉组件83。将外舱盖192通过外舱盖连接销轴组件193装在外壳上，将外舱盖压板16装在外舱盖压板心轴组件73上，并卡入轴端挡圈，在关闭外舱盖后，拧入外舱盖压板螺钉71。
(3)三层管路
在实际的充气、抽气管路及对应接头装配施工过程中，首先将三层舱盖管接头密封圈装在对应的管接头上。分别将内层舱盖管接头101、中层舱盖管接头111、外层舱盖管接头121分别装在对应的内层舱盖212、中层舱盖202、外层舱盖192上并拧紧。将内舱软管组件14穿过中舱软管组件13和中舱盖管接头111，将内舱金属软管的两个接头分别拧紧在内舱盖管接头101和外舱盖管接头121上，并将中舱金属软管的两个接头分别拧紧在中舱盖管接头111和外舱盖管接头121上。

Claims (10)

  1. 一种自平衡耐压壳装置，其特征在于，从内向外依次由球形内壳、球形中壳、球形外壳环绕球心套装组成；所述球形内壳与球形中壳之间、球形中壳与球形外壳之间均通过一对对称同轴的连接轴组件连接，两对连接轴组件的轴线相互垂直，使得球形内壳与球形中壳之间、球形中壳与球形外壳之间可相互转动；两对连接轴组件均设有弹簧阻尼器，抵抗相邻壳体之间的轴向冲击；
    所述球形内壳由内壳I(1)和内壳II(2)两个半球连接构成，所述球形中壳由中壳I(3)和中壳II(4)两个半球连接构成，所述球形外壳由外壳I(5)和外壳II(6)两个半球连接构成；
    所述球形内壳与球形中壳之间、球形中壳与球形外壳之间均设有一对对称的限位缓冲装置，球形内壳与球形中壳之间的限位缓冲装置连线与球形内壳与球形中壳之间接轴组件的轴线垂直，球形中壳与球形外壳之间的限位缓冲装置连线与球形中壳与球形外壳连接轴线垂直；
    所述所述球形内壳设有内舱口，球形中壳设有中舱口，球形外壳设有外舱口，内舱口、中舱口和外舱口都装有圆形舱盖；内舱盖(212)通过内舱盖连接销轴组件(213)与内壳内壁相连，通过装在内壳内壁上的内舱盖压板(93)压紧，由O型密封圈(211)密封；中舱盖(202)通过中舱盖连接销轴组件(203)与内壳外壁相连，通过装在中壳外壁上的中舱盖压板(82)压紧，由O型密封圈(201)密封；外舱盖(192)通过外舱盖连接销轴组件(193)与外壳外壁相连，通过装在外壳外壁上的外舱盖压板(72)压紧，由O型密封圈(191)密封；
    通过内舱软管与接头组件(14)连接内舱盖管接头(101)与外舱盖管接头(121)将球形内壳内部的内舱与外部的辅助潜水器相连，维持球形内壳内部的内舱一个标准大气压；通过中舱软管与接头组件(13)连接中舱盖管接头(111)与外舱盖管接头(121)将球形内壳与球形中壳之间中舱与外部的辅助潜水器相连，维持球形内壳与球形中壳之间中舱的真空；通过外舱盖管接头(121)将中壳与外壳之间的外舱与外部的辅助潜水器相连，维持中壳与外壳之间的外舱气压为潜水器工作水深处外部水压的一半；所述外舱盖管接头(121)为三层嵌套式金属接头，内、中、外三层分别通过金属软管与内舱、中舱、外舱相连；所述内舱盖管接头(101)、中舱盖管接头(111)和外舱盖管接头(121)均通过螺纹分别与内舱盖(212)、中舱盖(202)和外舱盖(192)连接并由O型密封圈密封。
  2. 根据权利要求1所述的一种自平衡耐压壳装置，其特征在于，所述球形中壳与球形外壳之间的两对连接轴组件结构尺寸相同，连接轴组件包括弹簧阻尼器(151，161)、支座(152，162)、连接轴(153,163)、滑动轴承(157,167)、内轴瓦(156,166)、外轴瓦(158,168)、轴承压板(154,164)和螺钉(155，165)；所述滑动轴承(157,167)通过轴承压板(154,164)与螺钉(155,165)固定在连接轴(153,163)上，所述滑动轴承(157,167)的内壁与连接轴(153,163)之间设有内轴瓦(156,166)，所述连接轴(153,163)支撑在球形中壳的外壁上，所述支座(152,162)支撑在球形外壳的内壁上，所述滑动轴承(157,167)的外壁与支座(152，162)之间设有外轴瓦(158,168)，所述弹簧阻尼器(151,161)装在支座(152,162)外侧且两端分别顶紧连接轴(153,163)和支座(152,162)的凸台；
    所述球形内壳与球形中壳之间的两对连接轴组件结构尺寸相同，连接轴组件包括弹簧阻尼器(171，181)、支座(172，182)、连接轴(173,183)、滑动轴承(177,187)、内轴瓦(176,186)、外轴瓦(178,188)、轴承压板(174,184)和螺钉(175，185)；所述滑动轴承 (177,187)通过轴承压板(174,184)与螺钉(175,185)固定在连接轴(173,183)上，所述滑动轴承(177,187)的内壁与连接轴(173,183)之间设有内轴瓦(176,186)，所述连接轴(173,183)支撑在球形内壳的外壁上，所述支座(172,182)支撑在球形中壳的内壁上，所述滑动轴承(177,187)的外壁与支座(172，182)之间设有外轴瓦(178,188)，所述弹簧阻尼器(171,181)装在支座(172,182)外侧且两端分别顶紧连接轴(173,183)和支座(172,182)的凸台。
  3. 根据权利要求1所述的一种自平衡耐压壳装置，其特征在于，所述球形内壳与球形中壳之间的一对限位缓冲装置结构尺寸相同，限位缓冲装置包括上支撑板(221，231)、中支撑板(225,235)、下支撑板(229,239)和上液压阻尼器(223,233)和下液压阻尼器(227,237)，所述中支撑板(225,235)与球形内壳外壁焊接，所述上支撑板(221,231)、下支撑板(229,239)分别设于连接在球形中壳内壁的下支撑板上支座(2210,2310)、下支撑板下支座(2211,2311)上，上液压阻尼器(223,233)和下液压阻尼器(227,237)以中支撑板(225,235)对称布置，上液压阻尼器(223,233)和下液压阻尼器(227,237)的一端通过万向节与中支撑板(225,235)连接，上液压阻尼器(223,233)的另一端通过万向节与上支撑板(221,231)连接，下液压阻尼器(227,237)的另一端通过万向节与下支撑板(229,239)连接；
    所述球形中壳与球形外壳之间的一对限位缓冲装置结构尺寸相同，限位缓冲装置包括上支撑板(241，251)、中支撑板(245,255)、下支撑板(249,259)、上液压阻尼器(243,253)和下液压阻尼器(247,257)，所述中支撑板(245,255)与球形内壳外壁焊接，所述上支撑板(241,251)、下支撑板(249,259)分别设于连接在球形中壳内壁的下支撑板上支座(2410,2510)、下支撑板下支座(2411,2511)上，上液压阻尼器(243,253)和下液压阻尼器(247,257)以中支撑板(245,255)对称布置，上液压阻尼器(243,253)和下液压阻尼器(247,257)的一端通过万向节与中支撑板(245,255)连接，上液压阻尼器(243,253)的另一端通过万向节与上支撑板(241,251)连接，下液压阻尼器(247,257)的另一端通过万向节与下支撑板(249,259)连接。
  4. 根据权利要求1、2或3所述的一种自平衡耐压壳装置，其特征在于，所述内舱盖压板(93)通过心轴组件(91)与内壳相连，由螺钉组件(92)压紧；所述中舱盖压板(82)通过心轴组件(81)与中壳相连，由螺钉组件(83)压紧；所述外舱盖压板(72)通过心轴组件(73)与外壳相连，由螺钉组件(71)顶紧。
  5. 根据权利要求1、2或3所述的一种自平衡耐压壳装置，其特征在于，所述球形内壳、球形中壳、球形外壳壳体的直径D1、D2、D3之间的比例关系为2:3:4，所述球形内壳的直径为2.2～3.1m。
  6. 根据权利要求5所述的一种自平衡耐压壳装置，其特征在于，所述内舱口、中舱口和外舱口的直径L1、L2、L3之间的比例关系为1:1:2，内舱口的直径为0.7m～1.1m。
  7. 根据权利要求3所述的一种自平衡耐压壳装置，其特征在于，所述下支撑板上支座(2210,2310，2410,2510)、下支撑板下支座(2211,2311，2411,2511)由两个对称的半支座组成，两个半支座分别焊在对应的半球壳的边缘，在将两个半球壳装配成完整的球壳时，上支撑板(221,231，241,251)、下支撑板(229,239,249,259)分别卡入对应的两个半支座。
  8. 根据权利要求1、2或3所述的一种自平衡耐压壳装置，其特征在于，所述球形内壳、 球形中壳、球形外壳的底部均放置配重。
  9. 根据权利要求2所述的一种自平衡耐压壳装置，其特征在于，所述滑动轴承(157,167,177,187)为整体式自润滑轴承。
  10. 根据权利要求2所述的一种自平衡耐压壳装置，其特征在于，所述弹簧阻尼器(151，161，171,181)改用橡胶阻尼器。
PCT/CN2016/094256 2015-09-15 2016-08-09 一种自平衡耐压壳装置 Ceased WO2017045494A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2016322277A AU2016322277B2 (en) 2015-09-15 2016-08-09 Self-balanced pressure hull device
US15/752,586 US10343749B2 (en) 2015-09-15 2016-08-09 Self-balancing pressure hull device
RU2018108887A RU2681825C1 (ru) 2015-09-15 2016-08-09 Самобалансирующаяся устойчивая к давлению конструкция корпуса

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510586853.2A CN105197183B (zh) 2015-09-15 2015-09-15 一种自平衡耐压壳装置
CN201510586853.2 2015-09-15

Publications (1)

Publication Number Publication Date
WO2017045494A1 true WO2017045494A1 (zh) 2017-03-23

Family

ID=54945252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/094256 Ceased WO2017045494A1 (zh) 2015-09-15 2016-08-09 一种自平衡耐压壳装置

Country Status (5)

Country Link
US (1) US10343749B2 (zh)
CN (1) CN105197183B (zh)
AU (1) AU2016322277B2 (zh)
RU (1) RU2681825C1 (zh)
WO (1) WO2017045494A1 (zh)

Families Citing this family (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105923129B (zh) * 2016-05-12 2018-03-16 中国科学院力学研究所 一种深海潜水器的分层调压装置
CN105973111B (zh) * 2016-07-08 2018-06-26 江苏科技大学 一种蛋形耐压壳快速定位测量装置及测量方法
CN106395702B (zh) * 2016-10-13 2018-07-27 上海理工大学 一种自重平衡器
CN107143653B (zh) * 2017-04-07 2018-08-24 上海海洋大学 双半球合拢式耐压舱的密封结构及基于其的双半球合拢式耐压舱
CN107719631B (zh) * 2017-09-12 2020-08-14 江西洪都航空工业集团有限责任公司 一种集热防护与成件安装一体的连接结构
CN107826226A (zh) * 2017-12-14 2018-03-23 邵绪贤 一种主动抗高压的方法及装置
CN108791693B (zh) * 2018-06-21 2020-02-07 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 水下变形位移补偿系统
CN109586541B (zh) * 2018-11-05 2020-07-14 兰州万里航空机电有限责任公司 应用于直线式电作动器的气压平衡装置
RU192069U1 (ru) * 2019-06-10 2019-09-03 Илья Андреевич Баранов Амортизированный корпус фильтра сетевого помехоподавляющего
US11745840B1 (en) 2019-09-12 2023-09-05 The United States Of America As Represented By The Secretary Of The Navy Apparatus and method for joining modules in a field configurable autonomous vehicle
US11505296B1 (en) 2019-09-12 2022-11-22 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for transporting ballast and cargo in an autonomous vehicle
US11608149B1 (en) 2019-09-12 2023-03-21 The United States Of America As Represented By The Secretary Of The Navy Buoyancy control module for field configurable autonomous vehicle
US12244352B1 (en) 2019-09-12 2025-03-04 The United States Of America As Represented By The Secretary Of The Navy Optical communications for autonomous vehicles
US11505283B1 (en) 2019-09-12 2022-11-22 The United States Of America As Represented By The Secretary Of The Navy Apparatus for coupling and positioning elements on a configurable vehicle
US11541801B1 (en) 2019-09-12 2023-01-03 The United States Of America As Represented By The Secretary Of The Navy Method and apparatus for positioning the center of mass on an unmanned underwater vehicle
US11530017B1 (en) 2019-09-12 2022-12-20 The United States Of America As Represented By The Secretary Of The Navy Scuttle module for field configurable vehicle
US11760454B1 (en) 2019-09-12 2023-09-19 The United States Of America As Represented By The Secretary Of The Navy Methods of forming field configurable underwater vehicles
US11904993B1 (en) 2019-09-12 2024-02-20 The United States Of America As Represented By The Secretary Of The Navy Supplemental techniques for vehicle and module thermal management
US11511836B1 (en) * 2019-09-12 2022-11-29 The United States Of America As Represented By The Secretary Of The Navy Field configurable spherical underwater vehicle
US12454338B1 (en) 2019-09-12 2025-10-28 The United States Of America As Represented By The Secretary Of The Navy Field configurable autonomous vehicle
US11530019B1 (en) 2019-09-12 2022-12-20 The United States Of America As Represented By The Secretary Of The Navy Propulsion system for field configurable vehicle
US11603170B1 (en) 2019-10-03 2023-03-14 The United States Of America As Represented By The Secretary Of The Navy Method for parasitic transport of an autonomous vehicle
CN111137400A (zh) * 2020-01-15 2020-05-12 中国海洋大学 一种无刚性支撑多层壳耐压载体
CN111232169B (zh) * 2020-02-25 2021-01-29 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） 一种深海超高压进出舱辅助装置及其操作方法
CN111516825B (zh) * 2020-05-08 2021-05-28 中国船舶科学研究中心 一种用于载人潜水器重型耐压罐安装的防倾覆滑动装置
CN111674532B (zh) * 2020-06-18 2021-12-24 中国船舶科学研究中心 一种深海装备耐压环肋圆柱壳中的装配式内部液舱
CN112149220B (zh) * 2020-08-28 2022-03-11 江苏科技大学 一种潜水器耐压壳体及其设计方法
CN111806647B (zh) * 2020-09-07 2020-12-11 山东省海洋资源与环境研究院(山东省海洋环境监测中心、山东省水产品质量检验中心) 一种船用海洋调查仪器的抛放装置
CN112319750B (zh) * 2020-11-05 2021-08-13 广州黄船海洋工程有限公司 一种饱和潜水系统应急逃生系统
CN113086083B (zh) * 2021-03-25 2024-04-12 天津商业大学 一种智慧型水下滑翔机壳体
CN113511298A (zh) * 2021-05-08 2021-10-19 中国船舶科学研究中心 一种适用于深潜的耐压结构及其上浮下潜方法
CN115432151B (zh) * 2021-06-01 2024-09-03 郑州轻工业大学 一种用于深海的充压式分层复合材料壳体及其使用方法
CN113682453B (zh) * 2021-09-07 2024-08-16 中国舰船研究设计中心 钛合金弹性梁式舷间压载水舱和潜水系统
CN113776807B (zh) * 2021-10-08 2023-07-14 中国船舶科学研究中心 一种大深度穿舱手轮轴性能测试装置及操作方法
CN114044116B (zh) * 2021-10-18 2024-06-07 中国舰船研究设计中心 用于海下测绘和海面上空搜集信息用安静型潜水器
CN114044114B (zh) * 2021-10-18 2024-05-28 中国舰船研究设计中心 潜水器球形舱回转用支撑组件
CN114084322B (zh) * 2021-12-02 2022-09-13 浙江大学 一种行星超机动球型水下机器人
CN114802611B (zh) * 2022-04-25 2023-03-14 江南造船(集团)有限责任公司 一种自平衡手术室及船舶
CN115339601B (zh) * 2022-08-24 2023-05-12 中国船舶科学研究中心 一种重心位置保持不变的可调压载水舱
CN115815900B (zh) * 2022-12-21 2025-08-05 中铁隧道集团二处有限公司 自适应式防水板自动电磁焊接装置
CN118479021B (zh) * 2024-05-08 2025-01-21 中国船舶科学研究中心 一种潜水器用无动力潜浮速度控制装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5806457A (en) * 1997-01-17 1998-09-15 The United States Of America As Represented By The Secretary Of The Navy Submersible vehicle hull portion having integrally formed fluid tank
RU2137659C1 (ru) * 1998-10-13 1999-09-20 Григорчук Владимир Степанович Подводный аппарат
DE102005047805A1 (de) * 2004-10-06 2006-04-20 Maximilian Rainer Wohllaib System zum Ausgleich von Druckdifferenzen
CN102556305A (zh) * 2010-12-09 2012-07-11 张瑞麟 深潜器壳体
CN103241353A (zh) * 2012-02-10 2013-08-14 张小玲 多层潜水器
CN203623913U (zh) * 2013-09-29 2014-06-04 武汉武船深海装备工程有限责任公司 一种轻型耐压舱口盖及开盖专用工具

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU27299A1 (ru) * 1931-03-07 1932-07-31 В.А. Голубцов Подводное судно
JPS5382100U (zh) * 1976-12-07 1978-07-07
CN2142909Y (zh) * 1992-11-30 1993-09-29 王平军 多级减压装置
US5477798A (en) * 1994-07-27 1995-12-26 Ness; C. Clifford High strength, high safety submersible vessel resistant to extreme external pressures
RU2133208C1 (ru) * 1997-08-26 1999-07-20 Попков Иван Иванович Корпус подводного аппарата
US7131389B1 (en) * 2004-01-22 2006-11-07 Graham Hawkes Submersible
CN104691700A (zh) * 2013-12-10 2015-06-10 张繁荣 一种潜水艇的船体
CN104749039A (zh) * 2013-12-31 2015-07-01 中国石油化工集团公司 薄壳嵌套式压力试验舱装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5806457A (en) * 1997-01-17 1998-09-15 The United States Of America As Represented By The Secretary Of The Navy Submersible vehicle hull portion having integrally formed fluid tank
RU2137659C1 (ru) * 1998-10-13 1999-09-20 Григорчук Владимир Степанович Подводный аппарат
DE102005047805A1 (de) * 2004-10-06 2006-04-20 Maximilian Rainer Wohllaib System zum Ausgleich von Druckdifferenzen
CN102556305A (zh) * 2010-12-09 2012-07-11 张瑞麟 深潜器壳体
CN103241353A (zh) * 2012-02-10 2013-08-14 张小玲 多层潜水器
CN203623913U (zh) * 2013-09-29 2014-06-04 武汉武船深海装备工程有限责任公司 一种轻型耐压舱口盖及开盖专用工具

Also Published As

Publication number Publication date
US20180237108A1 (en) 2018-08-23
US10343749B2 (en) 2019-07-09
RU2681825C1 (ru) 2019-03-12
AU2016322277B2 (en) 2018-12-20
CN105197183B (zh) 2017-05-03
AU2016322277A1 (en) 2018-03-08
CN105197183A (zh) 2015-12-30

Similar Documents

Publication Publication Date Title
CN105197183B (zh) 一种自平衡耐压壳装置
CN113212711A (zh) 一种面向深渊观测的混合驱动水下滑翔机
CN107323603B (zh) 一种自平衡深海潜水器的蛋形耐压壳装置
CN101565095A (zh) 六自由度水下球形机器人
CN110386239A (zh) 一种水下机器人的舵板系统
CN103442979A (zh) 具有可压舱旋转对称外壳和船井的开采单元
CN112124538A (zh) 一种7000米级深渊水下滑翔机
CN206569240U (zh) 一种水下机器人沉浮及姿态控制器
CN110953448A (zh) 一种摄像照明水平同轴旋转的水下监测装置
CN100395157C (zh) 浮动式球形对接裙
CN110422307B (zh) 一种深海多关节潜器的控制方法
CN103072675B (zh) 脐带缆浮体
CN106114797A (zh) 一种全回转舵桨双层减振装置及其设计方法
JP2012061907A (ja) 繊維強化複合材を用いた浮力体とそれを備えた水中潜水機
CN105545764A (zh) 一种用于船用泵摇摆性能测试的装置
CN108749997A (zh) 弹性位移补偿固连单元和深海多耐压体组合式耐压结构
CN100395158C (zh) 双球壳对接裙
CN100482534C (zh) 单球壳对接裙
CN220114764U (zh) 一种深海用探测设备复合材料球面罩
CN110406652A (zh) 一种用于深海多关节潜器的两自由度关节
CN110588927A (zh) 一种轻质舵板系统
CN211844859U (zh) 一种柔性无人潜航器结构
CN110435859B (zh) 一种用于深海探测的多关节潜器
NO310343B1 (no) Anordning for opphenging av fleksible og halvfleksible rör på konstruksjoner til havs
CN218510548U (zh) 一种模块化大负载水下电动云台装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16845608

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15752586

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2016322277

Country of ref document: AU

Date of ref document: 20160809

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2018108887

Country of ref document: RU

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16845608

Country of ref document: EP

Kind code of ref document: A1