WO2022041789A1 - 一种深海载人潜水器及其耐压壳体曲面结构的设计方法 - Google Patents

一种深海载人潜水器及其耐压壳体曲面结构的设计方法 Download PDF

Info

Publication number
WO2022041789A1
WO2022041789A1 PCT/CN2021/087785 CN2021087785W WO2022041789A1 WO 2022041789 A1 WO2022041789 A1 WO 2022041789A1 CN 2021087785 W CN2021087785 W CN 2021087785W WO 2022041789 A1 WO2022041789 A1 WO 2022041789A1
Authority
WO
WIPO (PCT)
Prior art keywords
shell
deep
casing
propeller
manned submersible
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/CN2021/087785
Other languages
English (en)
French (fr)
Inventor
张建
黄晨
蒋指挥
唐文献
吴文伟
王纬波
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 US17/781,719 priority Critical patent/US11731736B2/en
Publication of WO2022041789A1 publication Critical patent/WO2022041789A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
    • F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
    • F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
    • F16D2055/0004—Parts or details of disc brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/02—Fluid pressure
    • F16D2121/04—Fluid pressure acting on a piston-type actuator, e.g. for liquid pressure

Definitions

  • the invention relates to the field of submersibles, in particular to a design method of a deep-sea manned submersible and a surface structure of a pressure-resistant shell thereof.
  • Submersibles are mainly used for efficient exploration and development of marine resources, scientific research, military exploration and salvage.
  • the direction of the submersible needs to be adjusted according to the seabed topography.
  • it is necessary to calculate the buoyancy coefficient of the submersible so that the submersible can have enough gravity to dive into the deep sea.
  • it is necessary to discard the heavy objects in the submersible so that the gravity of the submersible is less than that of the submersible. Buoyancy, complete the floating action, the process is cumbersome and pollutes the environment.
  • the purpose of the present invention is to provide a deep-sea manned submersible, which realizes the active adjustment of the direction of the submersible, facilitates the realization of floating, and provides a design method for the surface structure of the pressure-resistant shell of the submersible.
  • a deep-sea manned submersible including a main casing, a thruster assembly, an annular slide, a brake disc, and a brake.
  • the main casing is vertically inserted from the upper surface of the thruster assembly, and is slidably connected to the thruster assembly through the two annular slideways, so that the thruster assembly and the main casing are formed
  • the overall outer contour is in the shape of a nautilus shell
  • the brake disc is annular and fixed on the outer ring of the main housing
  • the brake is mounted on the propeller assembly and matched with the brake disc correspond.
  • the main casing includes a first half casing, a second half casing, a flange, an observation window, and a head, and the first half casing and the second half casing are connected relative to each other to form an outer periphery.
  • a circular hollow shell structure the brake disc is fixed between the connecting surfaces of the two, the flange plate is connected to the outer surface of the first half shell through a plurality of bolts, and the second half shell is
  • the observation window is provided on the outer peripheral surface of the shell, and the sealing head is arranged on the outer surface of the second half shell.
  • the inner cavity of the circular hollow shell formed by the first half shell and the second half shell is provided with a plurality of radial partitions distributed in the circumferential direction, and a plurality of radial partitions from the center of the circle are arranged.
  • Circumferential baffles are distributed along the radial direction and the diameters are successively increased, and a plurality of the radial baffles and a plurality of circumferential baffles are combined to form a plurality of cabins.
  • each of the radial partitions is correspondingly provided with at least two passages communicating with the compartments.
  • a sealing ring is provided between the connecting surface of the bolt and the flange, and a sealing gasket is provided between the connecting surface of the flange and the first half-shell.
  • a manipulation cabin is arranged in the middle of the main casing, and an electromechanical equipment cabin is arranged at the bottom.
  • the propeller assembly includes a propeller propeller and an auxiliary casing, an arc-shaped groove is opened on the auxiliary casing, and two sliding blocks are symmetrically arranged on the opposite inner sides of the groove, so The main casing is inserted into the arc-shaped groove, so that the two sliding blocks are matched to the two annular slideways, and the overall outer contour formed by the auxiliary casing and the main casing is a parrot.
  • the screw shell type there are at least two propeller thrusters, which are respectively installed on the upper surface of the auxiliary casing, and the brake and the propeller thruster are installed on the same surface of the auxiliary casing.
  • propellers there are four propellers, two of which are installed in the forward direction and the other two are installed in the reverse direction.
  • the brake includes a cylinder, a cylinder seat, and a friction plate
  • the cylinder is mounted on the propeller assembly through the cylinder seat, and there are two friction plates opposite to the brake disc. Opposite sides and are respectively connected with the cylinder.
  • a method for designing the above-mentioned surface structure of the pressure-resistant shell of a deep-sea manned submersible vehicle comprising the following steps:
  • Step 1 Establish a space rectangular coordinate system at the small end of the thruster assembly.
  • the surface of the thruster assembly is composed of an outer generatrix, an inner generatrix and a section curve.
  • the outer generatrix is a Fibonacci spiral.
  • the inner generatrix is is a semicircle, on the XZ plane, the section curve is an ellipse line, on the YZ plane;
  • Step 3 The outer generatrix of the surface of the thruster component is a Fibonacci spiral.
  • the spiral is composed of two semicircles.
  • the value of the semicircle radius r conforms to the Fibonacci sequence.
  • the formula is:
  • the general term formula is The inner bus bar is a semicircle, and the radius value is set to r 3 ;
  • Step 4 The BC value is The value of ⁇ is
  • Step 5 Calculate the center coordinates of the two semicircles as (r n cos ⁇ -, r n sin ⁇ ), Then the polar coordinate equation of the helix is where ⁇ ′ is the small circle polar coordinate equation, and ⁇ ′′ is the great circle polar coordinate equation;
  • Step 6 Define any point P on the helix, and OP and the inner bus intersect at point P', then the length of PP' is
  • Step 7 The surface of the thruster can be surrounded by a large elliptic curve along the path curve The straight line is rotated 180° to the small elliptic curve, and the surface function of the thruster is obtained as
  • a pressure-resistant casing with a nautilus shell-shaped structure is formed by cooperating with the main casing of the propeller assembly.
  • the component rotates around the main casing to realize the active direction adjustment of the submersible, and realize active braking through the cooperation of the brake disc and the brake.
  • the submersible is more convenient and quick to float and dive, and it can adapt to the deep sea with complex conditions and harsh environments; the Nautilus submersible can be divided into more compartments, has good compression resistance, high utilization of space in the shell, and good hydrodynamic performance. , reserve more buoyancy.
  • Fig. 1 is the three-dimensional structure schematic diagram of one side where the flange plate of the present invention is located;
  • Fig. 2 is the three-dimensional structure schematic diagram of the side where the head of the present invention is located;
  • FIG. 3 is a front cross-sectional view of the main casing of the present invention.
  • Fig. 4 is the M-M sectional view of Fig. 3;
  • Fig. 5 is the N-N sectional view of Fig. 3;
  • Fig. 6 is the connection structure schematic diagram of flange plate
  • Fig. 7 is the structural representation of the brake
  • Fig. 8 is the axonometric view of the auxiliary casing of the present invention.
  • Figure 9 is an X-Y view of a simplified secondary housing
  • Figure 10 is a simplified X-Z view of the sub-casing helix
  • Figure 11 is an X-Z view of a simplified sub-housing
  • a deep-sea manned submersible as shown in Figures 1 to 7, includes a main casing, a propeller assembly, an annular slide 14, a brake disc 15, and a brake.
  • the main casing includes a first half casing 1, a second half casing Half shell 2, flange 3, observation window 4, head 5, the first half shell 1 and the second half shell 2 are relatively connected to form a hollow shell structure with a circular outer circumference, and the brake disc 15 is a hollow shell structure.
  • the brake disc 15 is fixed between the connecting surfaces of the two and relatively protrudes from the outer peripheral surfaces of the two.
  • the flange 3 is connected to the outer surface of the first half-shell 1 through a plurality of bolts 16.
  • Each A sealing ring 17 is respectively provided between the connection surface of the bolt 16 and the flange 3 , a gasket 18 is provided between the connection surface of the flange 3 and the first half-shell 1 , and the outer peripheral surface of the second half-shell 2
  • the head 5 is arranged on the outer surface of the second half-shell 2
  • the inner cavity of the circular hollow shell formed by the first half-shell 1 and the second half-shell 2 is provided with a plurality of A plurality of radial partitions 6 distributed in the circumferential direction, and a plurality of circumferential partitions 7 distributed in the radial direction from the center of the circle, and the diameters increase in turn.
  • Each of the radial partitions 6 is provided with at least two passages 8 communicating with the cabins, the middle part of the main shell is the control cabin 19 , and the bottom is the electromechanical equipment cabin 20 .
  • each slideway 14 is respectively provided with a slide groove
  • the propeller assembly includes a propeller propeller 9
  • Auxiliary casing 10 an arc-shaped groove is opened on the auxiliary casing 10
  • two sliding blocks are symmetrically arranged on two inner sides of the groove
  • the main casing is vertically inserted into the arc-shaped groove, so that the two The sliders are matched to the sliding grooves on the two annular slideways 14.
  • the overall outer contour formed by the auxiliary casing 10 and the main casing is in the shape of a nautilus shell.
  • the brake includes a cylinder 11, a cylinder seat 12, and a friction plate 13.
  • the cylinder 11 is installed on the auxiliary casing 10 through the cylinder seat 12.
  • the flange is the inlet and outlet of the submersible.
  • the propeller assembly can be rotated clockwise or counterclockwise around the main casing through the annular slide and the slider. , so as to realize the adjustment of the initiative of the entire submersible, and control the degree of freedom of the submersible through the start and stop of the propeller components, which makes the submersible's surfacing and diving more convenient and fast, and can adapt to the deep sea with complex conditions and harsh environments.
  • the brake disc and the brake by activating the cylinder, the two friction pads can be caught on the brake disc, so as to realize active braking and stop the propeller assembly at the desired position.
  • the above-mentioned design method for the surface structure of the pressure-resistant shell of the deep-sea manned submersible vehicle includes the following steps:
  • Step 1 As shown in FIG. 7 , a space rectangular coordinate system is established at the small end of the thruster assembly.
  • the curved surface of the thruster assembly is composed of an outer generatrix 103 , an inner generatrix 104 and a cross-sectional curve 102 .
  • the outer generatrix 103 is a Fibonacci spiral, on the XZ plane
  • the inner generatrix 104 is a semicircle
  • the cross-sectional curve 102 is an ellipse line, on the YZ plane;
  • the nautilus-type pressure shell is an ellipsoid shell, and an XY rectangular coordinate system is established at one end of the long axis of the ellipse meridian.
  • the ellipsoid surface equation is
  • Step 3 As shown in Figures 9-10, the outer generatrix 103 of the propeller surface is a Fibonacci spiral.
  • the spiral is composed of two semicircles.
  • the value of the semicircle radius r conforms to the Fibonacci sequence.
  • the formula is:
  • the general term formula is
  • the inner bus bar 104 is a semicircle with a radius value set to r 3 .
  • Step 4 As shown in Figure 11, the BC value is The value of ⁇ is
  • Step 5 Calculate the center coordinates of the two semicircles as (r n cos ⁇ -, r n sin ⁇ ), Then the polar coordinate equation of the spiral line 1-3 is where ⁇ ′ is the small circle polar coordinate equation, and ⁇ ′′ is the great circle polar coordinate equation;
  • Step 6 Define any point P on the spiral line 103, OP and the inner busbar intersect at the point P', then the length of PP' is
  • Step 7 The surface of the propeller can be surrounded by the large elliptic curve 102 along the path curve 103 The straight line is rotated 180° to the small elliptic curve 101, so the thruster surface function is
  • This method mainly designs the curved surface of the sub-shell.
  • the curved surface equation of the Nautilus-type submersible and the curved surface equation of the Nautilus-type thruster are further calculated.
  • Submersible's new Nautilus-type submersible Compared with the traditional spherical submersible, the Nautilus submersible can be divided into more compartments, has good compression resistance, high utilization of space in the shell, good hydrodynamic performance, and more reserve buoyancy.
  • the strength verification method of this submersible is given, including the following steps:
  • Step 3 Calculate the calculation depth h j , the calculation depth h j refers to the depth that considers the strength reserve greater than the limit depth, and the calculation formula is:
  • Step 4 Calculate the calculated pressure P j , the calculation formula is:
  • Step 5 Calculate the stress ⁇ of the pressure shell, the calculation formula is:
  • Step 6 Calculate the average value of the first curvature radius, and the calculation formula is:
  • Step 7 Calculate the average value of the second radius of curvature, and the calculation formula is:
  • Step 8 Calculate the critical buckling load of the pressure shell.
  • the calculation formula is:
  • Step 10 If step 9 is satisfied, the submersible meets the design requirements; if not, redesign and repeat steps 1 to 8.
  • the method can quickly predict the strength of the submersible pressure shell, and then accurately define the size and material allowable value of the submersible pressure shell, which improves the efficiency of strength analysis.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Automation & Control Theory (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Braking Arrangements (AREA)

Abstract

一种深海载人潜水器及其耐压壳体曲面结构的设计方法，该深海载人潜水器包括主壳体、推进器组件、环形滑道（14）、制动盘（15）、制动器，环形滑道（14）设有两个，对称固定于主壳体相对两侧面上，主壳体自推进器组件上表面竖直插入，并通过两个环形滑道（14）与推进器组件滑动连接，使推进器组件与主壳体构成的整体的外轮廓呈鹦鹉螺壳型，制动盘（15）呈圆环状，固定于主壳体的外圈，制动器安装于推进器组件上并与制动盘（15）匹配对应。通过推进器组件与主壳体配合构成外轮廓呈鹦鹉螺壳型结构的耐压壳体，具有更好的水动力，实现潜水器的主动性走向调整以及主动制动，能适应条件复杂、环境恶劣的深海；鹦鹉螺型潜水器能划分更多舱室，具有良好抗压特性，储备浮力多。

Description

一种深海载人潜水器及其耐压壳体曲面结构的设计方法 技术领域
本发明涉及潜航器领域，尤其是涉及一种深海载人潜水器及其耐压壳体曲面结构的设计方法。
背景技术
潜水器主要用于海洋资源高效勘探与开发、科学研究、军事探测和打捞等方面。
潜水器在海底移动的过程中，需要根据海底地形来调整潜水器的走向。潜水器在下潜前，要计算潜水器的浮力系数，使得潜水器能有足够的重力下潜到深海，作业完成后需要上浮，在上浮过程中，需要抛弃潜水器中重物使潜水器重力小于浮力，完成上浮动作，过程繁琐，并且污染环境。
发明内容
发明目的：针对上述问题，本发明的目的是提供一种深海载人潜水器，实现潜水器走向的主动调整，便于实现上浮，并提供了该潜水器耐压壳体曲面结构的设计方法。
技术方案：一种深海载人潜水器，包括主壳体、推进器组件、环形滑道、制动盘、制动器，所述环形滑道设有两个，对称固定于主壳体相对两侧面上，所述主壳体自所述推进器组件上表面竖直插入，并通过两个所述环形滑道与所述推进器组件滑动连接，使所述推进器组件与所述主壳体构成的整体的外轮廓呈鹦鹉螺壳型，所述制动盘呈圆环状，固定于所述主壳体的外圈，所述制动器安装于所述推进器组件上并与所述制动盘匹配对应。
进一步的，所述主壳体包括第一半壳体、第二半壳体、法兰盘、观察窗、封头，所述第一半壳体与所述第二半壳体相对连接构成外周呈圆形的中空壳体结构，所述制动盘固定于两者的连接面之间，所述法兰盘通过多个螺栓与所述第一半壳体外侧面连接，所述第二半壳体外周面上设有所述观察窗，所述封头设置于所述第二半壳体外侧面上。
进一步的，所述第一半壳体与所述第二半壳体构成的圆形中空壳体的内腔中设有多个呈周向分布的径向隔板，以及多个自圆心起始沿径向分布、直径依次递增的周向隔板，多个所述径向隔板与多个周向隔板组合构成多个舱室。
最佳的，每个所述径向隔板上至少对应设有两个连通舱室的通道。
进一步的，所述螺栓与所述法兰盘的连接面之间设有密封圈，所述法兰盘与所述第一半壳体的连接面之间设有密封垫。
进一步的，所述主壳体内的中部设有操纵舱，底部设有机电设备舱。
进一步的，所述推进器组件包括螺旋桨推进器、副壳体，所述副壳体上开设有弧形凹槽，所述凹槽的相对两个内侧面上对称设有两个滑块，所述主壳体插入所述弧形凹槽中，使两个所述滑块对应对两个所述环形滑道配合，所述副壳体与所述主壳体构成的整体的外轮廓呈鹦鹉螺壳型，所述螺旋桨推进器至少设有两个，分别安装于所述副壳体的上表面，所述制动器与所述螺旋桨推进器安装于所述副壳体的同一面上。
最佳的，所述螺旋桨推进器设有四个，其中两个呈正向安装，另外两个呈反向安 装。
进一步的，所述制动器包括气缸、气缸座、摩擦片，所述气缸通过所述气缸座安装于所述推进器组件上，所述摩擦片设有两个，相对设置于所述制动盘的相对两侧并分别与所述气缸连接。
一种上述的深海载人潜水的器耐压壳体曲面结构的设计方法，包括以下步骤：
步骤一、在推进器组件的小端建立空间直角坐标系，推进器组件曲面有外母线、内母线及截面曲线组成，其中，外母线为斐波那契螺旋线，在XZ平面上，内母线为半圆，在XZ平面上，截面曲线为椭圆线，在YZ平面上；
步骤二、在椭圆线经线长轴一端建立X-Y直角坐标系，经线方程为f(x，y)＝0，则
Figure PCTCN2021087785-appb-000001
椭球体可由经线椭圆绕直线
Figure PCTCN2021087785-appb-000002
轴旋转180°得到，所以，
Figure PCTCN2021087785-appb-000003
鹦鹉螺壳型曲面方程为
Figure PCTCN2021087785-appb-000004
步骤三、推进器组件曲面外母线为斐波那契螺旋线，螺旋线是由两个半圆组成，半圆半径r的值符合斐波那契数列，公式为
Figure PCTCN2021087785-appb-000005
通项公式为
Figure PCTCN2021087785-appb-000006
内母线为半圆，半径值设为r 3；
步骤四、BC值为
Figure PCTCN2021087785-appb-000007
α的值为
Figure PCTCN2021087785-appb-000008
步骤五、计算可得两个半圆的圆心坐标分别为(r n cosα-，r n sinα)、
Figure PCTCN2021087785-appb-000009
则螺旋线的极坐标方程为
Figure PCTCN2021087785-appb-000010
其中ρ′为小圆极坐标方程，ρ″为大圆极坐标方程；
步骤六、在螺旋线上定义任意一点P，OP与内母线交于P′点，则PP′长度为
Figure PCTCN2021087785-appb-000011
步骤七、推进器曲面可由大椭圆曲线沿着路径曲线绕
Figure PCTCN2021087785-appb-000012
直线旋转180°到小椭圆曲线所得，得到推进器曲面函数为
Figure PCTCN2021087785-appb-000013
有益效果：与现有技术相比，本发明的优点是：通过推进器组件与主壳体配合构成外轮廓呈鹦鹉螺壳型结构的耐压壳体，具体更好的水动力，通过推进器组件绕主壳体的周向旋转，实现潜水器的主动性走向调整，并通过制动盘和制动器的配合，实现主动制动，通过推进器组件的启停，控制潜水器的自由度，使得潜水器的上浮和下潜更加方便快捷，能适应条件复杂、环境恶劣的深海；鹦鹉螺型潜水器能划分更多舱室，具有良好抗压特性，壳内空间利用率高，水动力学性能好，储备浮力多。
附图说明
图1为本发明法兰盘所在一侧的立体结构示意图；
图2为本发明封头所在一侧的立体结构示意图；
图3为本发明主壳体的正视剖视图；
图4为图3的M-M剖视图；
图5为图3的N-N剖视图；
图6为法兰盘的连接结构示意图；
图7为制动器的结构示意图；
图8是本发明的副壳体的轴测图；
图9是简化的副壳体的X-Y视图；
图10是简化的副壳体螺旋线的X-Z视图；
图11是简化的副壳体的X-Z视图；
图中，1、第一半壳体；2、第二半壳体；3、法兰盘；4、观察窗；5、封头；6、径向隔板；7、周向隔板；8、通道；9、螺旋桨推进器；10、副壳体；11、气缸；12、气缸座；13、摩擦片；14、环形滑道；15、制动盘；16、螺栓；17、密封圈；18、密封垫；19、操纵舱；20、机电设备舱；101、椭圆曲 线；102、截面曲线；103、外母线；104、内母线。
具体实施方式
下面结合附图和具体实施例，进一步阐明本发明，应理解这些实施例仅用于说明本发明而不用于限制本发明的范围。
一种深海载人潜水器，如图1～7所示，包括主壳体、推进器组件、环形滑道14、制动盘15、制动器，主壳体包括第一半壳体1、第二半壳体2、法兰盘3、观察窗4、封头5，第一半壳体1与第二半壳体2相对连接构成外周呈圆形的中空壳体结构，制动盘15呈圆环状，制动盘15固定于两者的连接面之间并相对凸出于两者的外周面，法兰盘3通过多个螺栓16与第一半壳体1外侧面连接，每个螺栓16与法兰盘3的连接面之间分别设有一个密封圈17，法兰盘3与第一半壳体1的连接面之间设有密封垫18，第二半壳体2外周面上设有观察窗4，封头5设置于第二半壳体2外侧面上，第一半壳体1与第二半壳体2构成的圆形中空壳体的内腔中设有多个呈周向分布的径向隔板6，以及多个自圆心起始沿径向分布、直径依次递增的周向隔板7，多个径向隔板6与周向隔板7组合构成多个舱室，每个径向隔板6上至少对应设有两个连通舱室的通道8，主壳体内的中部为操纵舱19，底部为机电设备舱20。
环形滑道14设有两个，分别对称固定于第一半壳体1和第二半壳体2上，每个滑道14的上表面分别开设有滑槽，推进器组件包括螺旋桨推进器9、副壳体10，副壳体10上开设有弧形凹槽，凹槽的相对两个内侧面上对称设有两个滑块，主壳体竖直插入弧形凹槽中，使两个滑块对应对两个环形滑道14上的滑槽配合，副壳体10与主壳体构成的整体的外轮廓呈鹦鹉螺壳型，螺旋桨推进器9至少设有两个，如设有四个，其中两个呈正向安装，另外两个呈反向安装，分别安装于所述副壳体10的上表面的甲板上，制动器述螺旋桨推进器9安装于副壳体10的同一面上，制动器包括气缸11、气缸座12、摩擦片13，气缸11通过气缸座12安装于副壳体10的上，摩擦片13设有两个，相对设置于制动盘15的相对两侧并分别与气缸11连接。
法兰盘为本潜水器的进出口，通过启动正向的螺旋桨推进器或反向的螺旋桨推进器，可实现推进器组件通过环形滑道及滑块绕主壳体的顺时针或逆时针转动，从而实现整个潜水器的主动性走向调整，通过推进器组件的启停，控制潜水器的自由度，使得潜水器的上浮和下潜更加方便快捷，能适应条件复杂、环境恶劣的深海。此外，通过制动盘和制动器的配合，通过启动气缸实现两片摩擦片卡住制动盘，从而实现主动制动，使推进器组件停止在所需位置。
一种上述的深海载人潜水的器耐压壳体曲面结构的设计方法，如图8～11所示，包括以下步骤：
步骤一、如图7所示，在推进器组件的小端建立空间直角坐标系，推进器组件的曲面有外母线103、内母线104及截面曲线102组成。其中，外母线103为斐波那契螺旋线，在XZ平面上，内母线104为半圆，在XZ平面上，截面曲线102为椭圆线，在YZ平面上；
步骤二、如图8所示，鹦鹉螺型耐压壳为椭球壳体，在椭圆经线长轴一端建立X-Y直角坐标系，经线方程为f(x，y)＝0，则
Figure PCTCN2021087785-appb-000014
椭球体可由经线椭圆绕直线
Figure PCTCN2021087785-appb-000015
轴旋转180°得到，所以，
Figure PCTCN2021087785-appb-000016
椭球体曲面方程为
Figure PCTCN2021087785-appb-000017
步骤三、如图9～10所示，推进器曲面外母线103为斐波那契螺旋线，螺旋线是由两个半圆组成，半圆半径r的值符合斐波那契数列，公式为
Figure PCTCN2021087785-appb-000018
通项公式为
Figure PCTCN2021087785-appb-000019
内母线104为半圆，半径值设为r 3。
步骤四、如图11所示，BC值为
Figure PCTCN2021087785-appb-000020
α的值为
Figure PCTCN2021087785-appb-000021
步骤五、计算可得两个半圆的圆心坐标分别为为(r n cosα-，r n sinα)、
Figure PCTCN2021087785-appb-000022
则螺旋线1-3的极坐标方程为
Figure PCTCN2021087785-appb-000023
其中ρ′为小圆极坐标方程，ρ″为大圆极坐标方程；
步骤六、在螺旋线103上定义任意一点P，OP与内母线交于P′点，则PP′长度为
Figure PCTCN2021087785-appb-000024
步骤七、推进器曲面可由大椭圆曲线102沿着路径曲线103绕
Figure PCTCN2021087785-appb-000025
直线旋转180°到小椭圆曲线101所得，所以推进器曲面函数为
Figure PCTCN2021087785-appb-000026
本方法主要对副壳体曲面进行设计，通过在潜水器上建立直角坐标系，进一步计算出鹦鹉螺型潜水器曲面方程和鹦鹉螺型推进器曲面方程，提出了一种有别于传统球型潜水器的新型鹦鹉螺型潜水器。相比于传统球型潜水器，鹦鹉螺型潜水器能划分更多舱室，具有良好抗压特性，壳内空间利用率高，水动力学性能好，储备浮力多。
为了进一步验证鹦鹉螺型壳体的优越性，给出本潜水器的强度校验方法，包括以下步骤：
步骤1、选择材料，材料为钛合金，材料参数：弹性模量E＝110GPa，泊松比v＝0.3，屈服强度σy＝830Mpa；
步骤2、设定潜水器的工作深度为h g＝6000m，计算极限深度h jx,极限深度h jx是指潜水器能下潜的最大深度，计算公式为：
Figure PCTCN2021087785-appb-000027
可得潜水器的极限深度h jx＝6666.67m；
步骤3、计算计算深度h j，计算深度h j是指考虑了强度储备比极限深度更大的深度，计算公式为：
h j＝Kh jx
取安全系数K为1.5，可得计算深度h j＝10000m：；
步骤4、计算计算压力P j，计算公式为：
P j＝ρgh j
取海水密度ρ＝1.07×10 3kg/m 2，取重力加速度g＝9.8m/s 2，可得计算压力P j＝104MPa；
步骤5、计算耐压壳体的应力σ，计算公式为：
Figure PCTCN2021087785-appb-000028
取最大半径R＝5m，厚度R＝0.4m，可得到σ＝650MPa；
步骤6、计算第一曲率半径平均值，计算公式为：
Figure PCTCN2021087785-appb-000029
可得到
Figure PCTCN2021087785-appb-000030
步骤7、计算第二曲率半径平均值，计算公式为：
Figure PCTCN2021087785-appb-000031
可得到
Figure PCTCN2021087785-appb-000032
步骤8、计算耐压壳体的临界屈曲载荷，计算公式为：
Figure PCTCN2021087785-appb-000033
可得到q cr＝955.84MPa；
步骤9、对步骤5和步骤6的计算结果进行校验，计算结果满足q cr＝955.84MPa＞P j＝104MPa，σ＝650MPa＜0.85σ y＝705.5MPa；
步骤10、若步骤9满足，则潜水器符合设计要求，若不满足，则重新设计并重复步骤1到步骤8内容。
本方法可以快速预测潜水器耐压壳的强度，进而精确定义潜水器耐压壳尺寸及材料许用值，提高了强度分析的效率。

Claims (10)

  1. 一种深海载人潜水器，其特征在于：包括主壳体、推进器组件、环形滑道、制动盘、制动器，所述环形滑道设有两个，对称固定于主壳体相对两侧面上，所述主壳体自所述推进器组件上表面竖直插入，并通过两个所述环形滑道与所述推进器组件滑动连接，使所述推进器组件与所述主壳体构成的整体的外轮廓呈鹦鹉螺壳型，所述制动盘呈圆环状，固定于所述主壳体的外圈，所述制动器安装于所述推进器组件上并与所述制动盘匹配对应。
  2. 根据权利要求1所述的一种深海载人潜水器，其特征在于：所述主壳体包括第一半壳体、第二半壳体、法兰盘、观察窗、封头，所述第一半壳体与所述第二半壳体相对连接构成外周呈圆形的中空壳体结构，所述制动盘固定于两者的连接面之间，所述法兰盘通过多个螺栓与所述第一半壳体外侧面连接，所述第二半壳体外周面上设有所述观察窗，所述封头设置于所述第二半壳体外侧面上。
  3. 根据权利要求2所述的一种深海载人潜水器，其特征在于：所述第一半壳体与所述第二半壳体构成的圆形中空壳体的内腔中设有多个呈周向分布的径向隔板，以及多个自圆心起始沿径向分布、直径依次递增的周向隔板，多个所述径向隔板与多个周向隔板组合构成多个舱室。
  4. 根据权利要求3所述的一种深海载人潜水器，其特征在于：每个所述径向隔板上至少对应设有两个连通舱室的通道。
  5. 根据权利要求2所述的一种深海载人潜水器，其特征在于：所述螺栓与所述法兰盘的连接面之间设有密封圈，所述法兰盘与所述第一半壳体的连接面之间设有密封垫。
  6. 根据权利要求1～4任一所述的一种深海载人潜水器，其特征在于：所述主壳体内的中部设有操纵舱，底部设有机电设备舱。
  7. 根据权利要求1所述的一种深海载人潜水器，其特征在于：所述推进器组件包括螺旋桨推进器、副壳体，所述副壳体上开设有弧形凹槽，所述凹槽的相对两个内侧面上对称设有两个滑块，所述主壳体插入所述弧形凹槽中，使两个所述滑块对应对两个所述环形滑道配合，所述副壳体与所述主壳体构成的整体的外轮廓呈鹦鹉螺壳型，所述螺旋桨推进器至少设有两个，分别安装于所述副壳体的上表面，所述制动器与所述螺旋桨推进器安装于所述副壳体的同一面上。
  8. 根据权利要求7所述的一种深海载人潜水器，其特征在于：所述螺旋桨推进器设有四个，其中两个呈正向安装，另外两个呈反向安装。
  9. 根据权利要求1所述的一种深海载人潜水器，其特征在于：所述制动器包括气缸、气缸座、摩擦片，所述气缸通过所述气缸座安装于所述推进器组件上，所述摩擦片设有两个，相对设置于所述制动盘的相对两侧并分别与所述气缸连接。
  10. 一种根据权利要求1～9任一所述的深海载人潜水的器耐压壳体曲面结构的设计方法，其特征在于包括以下步骤：
    步骤一、在推进器组件的小端建立空间直角坐标系，推进器组件曲面有外母线、内母线及截面曲线组成，其中，外母线为斐波那契螺旋线，在XZ平面上，内母线为半圆，在XZ平面上，截面曲线为椭圆线，在YZ平面上；
    步骤二、在椭圆线经线长轴一端建立X-Y直角坐标系，经线方程为f(x，y)＝0，则
    Figure PCTCN2021087785-appb-100001
    椭球体可由经线椭圆绕直线
    Figure PCTCN2021087785-appb-100002
    轴旋转180°得到，所以，
    Figure PCTCN2021087785-appb-100003
    鹦鹉螺壳型曲面方程为
    Figure PCTCN2021087785-appb-100004
    步骤三、推进器组件曲面外母线为斐波那契螺旋线，螺旋线是由两个半圆组成，半圆半径r的值符合斐波那契数列，公式为
    Figure PCTCN2021087785-appb-100005
    通项公式为
    Figure PCTCN2021087785-appb-100006
    内母线为半圆，半径值设为r 3；
    步骤四、BC值为
    Figure PCTCN2021087785-appb-100007
    α的值为
    Figure PCTCN2021087785-appb-100008
    步骤五、计算可得两个半圆的圆心坐标分别为(r n cosα-，r n sinα)、
    Figure PCTCN2021087785-appb-100009
    则螺旋线的极坐标方程为
    Figure PCTCN2021087785-appb-100010
    其中ρ′为小圆极坐标方程，ρ″为大圆极坐标方程；
    步骤六、在螺旋线上定义任意一点P，OP与内母线交于P′点，则PP′长度为
    Figure PCTCN2021087785-appb-100011
    步骤七、推进器曲面可由大椭圆曲线沿着路径曲线绕
    Figure PCTCN2021087785-appb-100012
    直线旋转180°到小椭圆曲线所得，得到推进器曲面函数为
    Figure PCTCN2021087785-appb-100013
PCT/CN2021/087785 2020-08-28 2021-04-16 一种深海载人潜水器及其耐压壳体曲面结构的设计方法 Ceased WO2022041789A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/781,719 US11731736B2 (en) 2020-08-28 2021-04-16 Deep-sea manned submersible and design method for pressure resistant hull curved structure thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010884383.9 2020-08-28
CN202010884383.9A CN112182738B (zh) 2020-08-28 2020-08-28 一种深海载人潜水器及其耐压壳体曲面结构的设计方法

Publications (1)

Publication Number Publication Date
WO2022041789A1 true WO2022041789A1 (zh) 2022-03-03

Family

ID=73924212

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/087785 Ceased WO2022041789A1 (zh) 2020-08-28 2021-04-16 一种深海载人潜水器及其耐压壳体曲面结构的设计方法

Country Status (3)

Country Link
US (1) US11731736B2 (zh)
CN (1) CN112182738B (zh)
WO (1) WO2022041789A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009437A (zh) * 2022-07-22 2022-09-06 中海石油深海开发有限公司 一种海洋内孤立波观测平台

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112182738B (zh) * 2020-08-28 2024-01-26 江苏科技大学 一种深海载人潜水器及其耐压壳体曲面结构的设计方法
CN114013560B (zh) * 2021-11-16 2024-09-03 江苏科技大学 一种塔螺形深海耐压壳体的设计方法
CN114104187B (zh) * 2021-11-29 2023-11-21 江苏科技大学 一种变厚封头及其设计方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4226205A (en) * 1977-02-17 1980-10-07 Paul Bastide Auxiliary submersible for deep-sea work
CN109367681A (zh) * 2018-10-17 2019-02-22 河海大学 一种浮游滚进底栖型潜水器的球面装置
CN110065606A (zh) * 2019-05-16 2019-07-30 大连理工大学 一种矢量推进的流线型四旋翼水下航行器
TW201930146A (zh) * 2017-12-29 2019-08-01 昊創世紀有限公司 水下載具裝置
CN112182738A (zh) * 2020-08-28 2021-01-05 江苏科技大学 一种深海载人潜水器及其耐压壳体曲面结构的设计方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3371635A (en) * 1966-09-07 1968-03-05 Nancy Lee Seeley Submersible vessel
CN103267106B (zh) * 2013-05-13 2015-09-02 浙江大学 具有斐波那契螺旋线齿形的斜齿圆柱齿轮
CN105303003B (zh) * 2015-11-30 2018-07-27 江苏科技大学 一种用于盘式制动器推杆位置的优化方法
CN107323603B (zh) * 2017-06-13 2019-01-18 江苏科技大学 一种自平衡深海潜水器的蛋形耐压壳装置
CN109229312A (zh) * 2018-10-12 2019-01-18 上海彩虹鱼深海装备科技有限公司 一种潜水器框架结构及潜水器
CN114475991B (zh) * 2018-10-12 2024-06-18 上海彩虹鱼深海装备科技有限公司 一种潜水器
CN110217362B (zh) * 2019-05-08 2020-05-29 上海海事大学 一种子母式逃逸型载人潜水器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4226205A (en) * 1977-02-17 1980-10-07 Paul Bastide Auxiliary submersible for deep-sea work
TW201930146A (zh) * 2017-12-29 2019-08-01 昊創世紀有限公司 水下載具裝置
CN109367681A (zh) * 2018-10-17 2019-02-22 河海大学 一种浮游滚进底栖型潜水器的球面装置
CN110065606A (zh) * 2019-05-16 2019-07-30 大连理工大学 一种矢量推进的流线型四旋翼水下航行器
CN112182738A (zh) * 2020-08-28 2021-01-05 江苏科技大学 一种深海载人潜水器及其耐压壳体曲面结构的设计方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115009437A (zh) * 2022-07-22 2022-09-06 中海石油深海开发有限公司 一种海洋内孤立波观测平台

Also Published As

Publication number Publication date
US20230002008A1 (en) 2023-01-05
CN112182738B (zh) 2024-01-26
CN112182738A (zh) 2021-01-05
US11731736B2 (en) 2023-08-22

Similar Documents

Publication Publication Date Title
CN112182738B (zh) 一种深海载人潜水器及其耐压壳体曲面结构的设计方法
Cui An Overview of Submersible Research and Development in China: W. Cui
Osse et al. The Deepglider: A full ocean depth glider for oceanographic research
Liang et al. Optimum design of multiple intersecting spheres deep-submerged pressure hull
WO2022041788A1 (zh) 一种潜水器耐压壳体及其设计方法
CN111874195B (zh) 一种全海深近海底自主水下机器人结构
Won et al. Design optimization of duct-type AUVs using CFD analysis
CN116108583A (zh) 一种Myring型水下航行器的仿生优化设计方法
US12565297B2 (en) Robotic fish
CN115636088B (zh) 一种新型弹体舱段连接机构
CN214383417U (zh) 一种基于弯曲激波理论反设计法的全三维乘波体
CN115465428B (zh) 一种水下航行器艉部动力舱减振降噪装置
Thyrann et al. Concept of an autonomous underwater glider with passively adapting flapping wings
CN114701628B (zh) 一种适应于水下航行器的隔振电机舱
CN112093022A (zh) 一种基于新型无轴轮缘推进arv
CN104724260B (zh) 一种小型半潜式电动观光游艇
Fu et al. Ultimate bearing mechanism of a new typed composite pressure hull with variable curvature for UUVs
Moonesun et al. A review study on the bare hull form equations of submarine
Xu et al. Experimental Investigation on the Vibration Characteristics of a Laminated Cylindrical Shell Structure Made of Steel and Composite Materials
CN118876464B (zh) 一种基于碳纤维复合材料的水下航行器鳍舵成型方法
Cai et al. Strength assessment of an air-dropped AUV during water entry
CN108557016A (zh) 深海浮标耐压筒体
Tang et al. Buckling of Cassini oval pressure hulls subjected to external pressure
CN214686084U (zh) 一种航行器推进舱壳体夹紧工装
Jiang et al. A numerical study of the descent and ascent motion of a full ocean depth human occupied vehicle

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: 21859637

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21859637

Country of ref document: EP

Kind code of ref document: A1