An underwater hoisting tension measurement test system

Abstract

The present application relates to a kind of underwater lifting tension measurement test systems, including submersible, the bottom surface of the submersible is fixedly installed with lifting winch, lifting winch one side is fixedly installed with control cabin, while control cabin is fixed in the bottom surface position of submersible, lifting winch is connected with tensile sensor by lifting cable, tensile sensor is fixed in the top of electromagnet, the bottom of electromagnet is attracted with iron plate, and iron plate is fixedly installed in the bottom of water pool;The electromagnetic attraction of electromagnet is controlled to simulate the deep-sea lifting bottom suction force, the navigation speed of submersible is used to simulate the relative flow speed of deep-sea lifting, and the tension of lifting cable first end and last end is measured by three-roller force sensor and tensile sensor respectively.The system structure is compact, simulation condition is more, and tension detection precision is high, can simulate the actual working condition of submersible in deep-sea lifting, and test result can guide the design of submersible deep-sea lifting system.

Description

Technical Field

[0001] This invention relates to the field of deep-sea lifting operation technology, and in particular to an underwater lifting tension measurement and testing system. Background Technology

[0002] In the fields of marine exploration, subsea pipeline laying, and marine development, underwater heavy object lifting technology plays a crucial role. With the development of technologies related to deep-sea mining, in-situ research of deep-sea organisms, and deep-sea archaeology, the demand for deep-sea lifting based on manned and unmanned submersibles is becoming increasingly frequent. However, deep-sea lifting based on submersibles differs significantly from lifting based on surface vessels. Surface vessels possess greater restoring force, and the force exerted on the hull by the tension of the lifting cables can be ignored during lifting. In contrast, with submersibles, which are in a state of zero buoyancy underwater, changes in lifting tension severely affect the hull's motion attitude. Poor control of the motion attitude can lead to the submersible falling to the bottom or even sinking. When lifting heavy objects underwater, submersibles are often subject to resistance from ocean currents, dynamic forces from cable deployment and retrieval, and the suction force of the heavy object off the bottom. Therefore, to improve the safety of deep-sea lifting by submersibles, it is necessary to conduct experimental research on the variation law of tension during underwater lifting to guide the design of deep-sea submersible lifting systems. Existing testing systems can only measure the speed at which heavy objects are raised and lowered, and cannot measure the lifting tension considering multiple influencing factors. Summary of the Invention

[0003] To address the shortcomings of existing production technologies that can only measure the speed of lifting and lowering heavy objects, the applicant provides an underwater lifting tension measurement test system that comprehensively considers multiple factors such as relative current velocity, cable lifting and lowering speed, and the adsorption of heavy objects off the bottom. It simulates multiple working conditions, has high tension detection accuracy, and can simulate the actual working conditions of submersibles lifting in the deep sea. The test results can guide the design of deep-sea lifting systems for submersibles.

[0004] The technical solution adopted in this invention is as follows:

[0005] An underwater lifting tension measurement test system includes a submersible. A lifting winch is fixedly installed on the bottom surface of the submersible, and a control cabin is fixedly installed on the side of the lifting winch. The control cabin is also fixed on the bottom surface of the submersible. The lifting winch is connected to a tension sensor through a lifting cable. The tension sensor is fixed on the top of an electromagnet. An iron plate is attracted to the bottom of the electromagnet and the iron plate is fixedly installed at the bottom of the pool.

[0006] The submersible's installation structure includes a hull, a propulsion motor fixed inside the hull, the output end of the propulsion motor connected to the stern shaft, the stern shaft passing through the hull and connected to the propeller, and a Doppler velocity meter installed at the bottom of the hull.

[0007] The hoisting winch has the following structure: a mounting base plate connected to the hull; a structural frame at the bottom of the mounting base plate; a control cabin fixed to the left end of the structural frame; the control cabin is used to collect information from various sensors on the hoisting winch and control the rotation of the drive motor; the interior of the structural frame contains a drum, cable sheave, drum gear, slip ring, transition gear, drive gear, drive motor, front guide wheel, three-roller force sensor, and rear guide wheel; the drum gear is fixedly connected to the drum; and the drum gear, transition gear, and drive gear form a gear meshing relationship. The slip ring is located at the end of the drum, and the drive motor is located at the end of the drive gear, providing driving power to the drive gear. The cable sheave, front guide wheel, three-roller force sensor and rear guide wheel are all arranged in the upper space within the structural frame, arranged sequentially from left to right. The three-roller force sensor is arranged between the front guide wheel and the rear guide wheel. The first end of the lifting cable is wound on the drum, and the internal core wire of the lifting cable is connected to the moving ring of the slip ring. The end of the lifting cable passes through the cable sheave, front guide wheel, three-roller force sensor and rear guide wheel in succession, and is connected to the upper end of the tension sensor.

[0008] Its further technical solution lies in:

[0009] The bottom surface of the hull is flat.

[0010] The bottom of the hull has multiple screw holes for mounting a lifting winch.

[0011] Install screws in screw holes.

[0012] The tail wires of the slip ring, drive motor, and three-roller force sensor are all connected to the control cabin via cables.

[0013] The beneficial effects of this invention are as follows:

[0014] This invention features a compact and rational structure, and is easy to operate. It overcomes the shortcomings of existing testing systems, which can only measure lifting speed and cannot simulate bottom-lifting force, inflow velocity, or lifting tension. Instead, it proposes an underwater lifting tension measurement test system that can simulate the forces exerted by a submersible lifting heavy objects in deep sea conditions. This system simulates the bottom-lifting force by controlling the electromagnetic attraction of electromagnets, simulates the relative inflow velocity by the submersible's travel speed, and measures the tension at both ends of the lifting cable using a three-roller force sensor and a tension sensor. This system is compact, simulates multiple operating conditions, and has high tension detection accuracy. It can simulate the actual operating conditions of a submersible lifting in deep sea, and the test results can guide the design of deep-sea lifting systems for submersibles. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2This is a diagram showing the tension measurement status under the navigation conditions of this invention.

[0017] Figure 3 This is a diagram showing the composition of the submersible of the present invention.

[0018] Figure 4 This is a diagram showing the components of the hoisting winch of the present invention.

[0019] The components include: 1. Submersible; 2. Control cabin; 3. Hoisting winch; 4. Tension sensor; 5. Electromagnet; 6. Iron plate;

[0020] 101. Hull; 102. Doppler velocity sensor; 103. Propulsion motor; 104. Stern shaft; 105. Propeller; 106. Screw holes;

[0021] 301. Mounting base plate; 302. Screws; 303. Structural frame; 304. Drum; 305. Cable pulley; 306. Drum gear; 307. Slip ring; 308. Transition gear; 309. Drive gear; 310. Drive motor; 311. Front guide wheel; 312. Three-roller force sensor; 313. Rear guide wheel; 314. Lifting cable. Detailed Implementation

[0022] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0023] like Figures 1-4 As shown, the underwater lifting tension measurement test system of this embodiment includes a submersible 1, a lifting winch 3 is fixedly installed on the bottom surface of the submersible 1, a control cabin 2 is fixedly installed on the side of the lifting winch 3, and the control cabin 2 is fixed at the bottom surface of the submersible 1. The lifting winch 3 is connected to a tension sensor 4 through a lifting cable 314. The tension sensor 4 is fixed on the top of an electromagnet 5. An iron plate 6 is attracted to the bottom of the electromagnet 5. The iron plate 6 is fixedly installed at the bottom of the pool.

[0024] The installation structure of the submersible 1 is as follows: it includes a hull 101, a propulsion motor 103 is fixed inside the hull 101, the output end of the propulsion motor 103 is connected to the stern shaft 104, the stern shaft 104 passes through the hull 101 and is connected to the propeller 105, and a Doppler velocimeter 102 is installed at the bottom of the hull 101.

[0025] The structure of the hoisting winch 3 includes: a mounting base plate 301 connected to the hull 101; a structural frame 303 at the bottom of the mounting base plate 301; a control cabin 2 fixed to the left end of the structural frame 303; the control cabin 2 is used to collect information from various sensors on the hoisting winch 3 and control the rotation of the drive motor 310; the interior of the structural frame 303 includes a drum 304, a cable sheave 305, a drum gear 306, a slip ring 307, a transition gear 308, a drive gear 309, a drive motor 310, a front guide wheel 311, a three-roller force sensor 312, and a rear guide wheel 313; the drum gear 306 is fixedly connected to the drum 304; and the drum gear 306, the transition gear 308, and the drive gear 309 form a gear meshing relationship. The system includes a slip ring 307 located at the end of the drum 304, a drive motor 310 located at the end of the drive gear 309, providing driving power to the drive gear 309, a cable pulley 305, a front guide wheel 311, a three-roller force sensor 312, and a rear guide wheel 313 all arranged in the upper space within the structural frame 303, arranged sequentially from left to right, with the three-roller force sensor 312 positioned between the front guide wheel 311 and the rear guide wheel 313, the first end of the lifting cable 314 wound on the drum 304, the internal core wire of the lifting cable 314 connected to the moving ring of the slip ring 307, and the end of the lifting cable 314 passing through the cable pulley 305, the front guide wheel 311, the three-roller force sensor 312, and the rear guide wheel 313 before being connected to the upper end of the tension sensor 4.

[0026] The bottom surface of hull 101 is flat.

[0027] The bottom surface of the hull 101 has multiple screw holes 106 for mounting the hoisting winch 3.

[0028] Screw 302 is installed in screw hole 106.

[0029] The tail wires of slip ring 307, drive motor 310, and three-roller force sensor 312 are all connected to the control compartment 2 via cables.

[0030] The specific structure and function of the underwater lifting tension measurement and testing system described in this invention are as follows:

[0031] It mainly includes a submersible 1, a control cabin 2, a hoisting winch 3, a tension sensor 4, an electromagnet 5, and an iron plate 6.

[0032] The submersible 1 is mainly composed of a hull 101, a Doppler velocimeter 102, a propulsion motor 103, a stern shaft 104, a propeller 105, and screw holes 106.

[0033] The hoisting winch 3 is mainly composed of a mounting base plate 301, screws 302, structural frame 303, drum 304, cable pulley 305, drum gear 306, slip ring 307, transition gear 308, drive gear 309, drive motor 310, front guide wheel 311, three-roller force sensor 312, rear guide wheel 313, and hoisting cable 314.

[0034] The propulsion motor 103 is placed inside the submersible 1 and installed on the hull 101. The stern shaft 104 passes through the hull 101, with its left end connected to the propulsion motor 103 and its right end connected to the propeller 105, thus forming the propulsion system of the submersible 1.

[0035] The Doppler velocimeter 102 is installed at the bottom of the hull 101 of the submersible 1 and is mainly used to measure the forward and backward speeds of the submersible 1.

[0036] The control cabin 2 is fixedly connected to the left end face of the structural frame 303 of the hoisting winch 3. It is mainly used to collect information from various sensors on the hoisting winch 3 and control the rotation of the drive motor 310. The mounting base plate 301 of the hoisting winch 3 is tightened into the screw holes 106 at the bottom of the submersible 1 by screws 302, so that the hoisting winch 3 and the submersible 1 are fixedly installed.

[0037] The hoisting winch 3 includes a drum 304, cable sheave 305, drum gear 306, slip ring 307, transition gear 308, drive gear 309, drive motor 310, front guide wheel 311, three-roller force sensor 312, and rear guide wheel 313, all arranged inside the structural frame 303. The drum gear 306 is fixedly connected to the drum 304, and forms a gear meshing relationship with the transition gear 308 and drive gear 309. The slip ring 307 is located at the end of the drum 304, and the drive motor 310 is located at the end of the drive gear 309, providing driving power to the drive gear 309. The cable sheave 305, front guide wheel 311, three-roller force sensor 312, and rear guide wheel 313 are all arranged in the upper space within the structural frame 303, arranged sequentially from left to right. The three-roller force sensor 312 is located between the front guide wheel 311 and the rear guide wheel 313.

[0038] The first end of the lifting cable 314 is wound on the drum 304 of the lifting winch 3, and its internal core wire is connected to the moving ring of the slip ring 307. The end of the lifting cable 314 passes through the cable pulley 305, the front guide wheel 311, the three-roller force sensor 312 and the rear guide wheel 313 in succession, and is connected to the upper end of the tension sensor 4. The lower end of the tension sensor 4 is connected to the top of the electromagnet 5. The bottom of the electromagnet 5 is attracted to the iron plate 6, and the iron plate 6 is fixedly installed at the bottom of the pool.

[0039] The tail wires of slip ring 307, drive motor 310, and three-roller force sensor 312 are all connected to the control compartment 2 via cables.

[0040] In actual work process:

[0041] The control cabin 2 conducts electricity through the cable of the slip ring 307 and the core wire inside the lifting cable 314, so that the electromagnet 5 is energized, thereby making the electromagnet 5 tightly attracted to the iron plate 6. The magnitude of the attraction force can be adjusted by giving different magnitudes of current to the control cabin 2. The attraction force is mainly used to simulate the suction force of the heavy object off the bottom.

[0042] Then, the control cabin 2 controls the drive motor 310 to rotate, thereby driving the drive gear 309 to rotate. Through the meshing relationship between the drum gear 306 and the transition gear 308, the drum gear 306 is driven to rotate, thereby causing the drum 304 to start retrieving the lifting cable 314. During the retrieval process, as the torque of the drive motor 310 gradually increases, the electromagnet 5 gradually detaches from the iron plate 6. This process can simulate the process of a heavy object getting rid of the bottom suction force. During this process, the tension at the end of the lifting cable 314 can be measured by the tension sensor 4, and the tension at the beginning of the lifting cable 314 can be measured by the three-roller force sensor 312.

[0043] Then, the propulsion motor 103 of the submersible 1 starts to rotate, which drives the propeller 105 to rotate through the stern shaft 104, thereby driving the submersible 1 to move forward or backward at a certain speed to simulate the relative velocity of the lifting system. This velocity is measured and recorded in real time by the Doppler velocimeter 102. When the submersible 1's travel speed, i.e., the relative velocity of the lifting system, is constant, the lifting cable 314 and the electromagnet 5 connected to its end both deviate from their initial vertical state under the relative velocity of the current, and become inclined to the current. At this time, the system can simulate the lifting tension measurement of the submersible 1 under deep-sea current conditions.

[0044] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. An underwater lifting tension measurement and testing system, characterized in that: The submersible (1) is equipped with a lifting winch (3) fixedly installed on its bottom surface. A control cabin (2) is fixedly installed on one side of the lifting winch (3). The control cabin (2) is fixedly located on the bottom surface of the submersible (1). The lifting winch (3) is connected to a tension sensor (4) via a lifting cable (314). The tension sensor (4) is fixed on the top of an electromagnet (5). An iron plate (6) is attracted to the bottom of the electromagnet (5). The iron plate (6) is fixedly installed at the bottom of the pool. The installation structure of the submersible (1) is as follows: it includes a hull (101), a propulsion motor (103) is fixed inside the hull (101), the output end of the propulsion motor (103) is connected to the stern shaft (104), the stern shaft (104) passes through the hull (101) and is connected to the propeller (105), and a Doppler velocimeter (102) is installed at the bottom of the hull (101). The structure of the hoisting winch (3) is as follows: it includes a mounting base plate (301) connected to the hull (101), a structural frame (303) is provided at the bottom of the mounting base plate (301), and a control cabin (2) is fixed on the left end of the structural frame (303). The control cabin (2) is used to collect information from various sensors on the hoisting winch (3) and control the rotation of the drive motor (310). The interior of the structural frame (303) is provided with a drum (304), a cable pulley (305), a drum gear (306), a slip ring (307), and a transition gear. The system includes a wheel (308), a drive gear (309), a drive motor (310), a front guide wheel (311), a three-roller force sensor (312), and a rear guide wheel (313). A drum gear (306) is fixedly connected to the drum (304). The drum gear (306), the transition gear (308), and the drive gear (309) form a gear meshing relationship. A slip ring (307) is located at the end of the drum (304), and the drive motor (310) is located at the end of the drive gear (309), providing support for the drive gear (309). The cable pulley (305), front guide pulley (311), three-roller force sensor (312), and rear guide pulley (313) are all arranged in the upper space within the structural frame (303) and arranged sequentially from left to right. The three-roller force sensor (312) is arranged between the front guide pulley (311) and the rear guide pulley (313). The first end of the lifting cable (314) is wound on the drum (304), and the internal core wire of the lifting cable (314) is connected to the moving ring of the slip ring (307). The end of the lifting cable (314) passes through the drum one after another. The cable sheave (305), the front guide wheel (311), the three-roller force sensor (312) and the rear guide wheel (313) are connected to the upper end of the tension sensor (4); the bottom surface of the hull (101) is flat; the bottom surface of the hull (101) has multiple screw holes (106) for installing the hoisting winch (3); screws (302) are installed in the screw holes (106); the tail wires of the slip ring (307), the drive motor (310) and the three-roller force sensor (312) are all connected to the control cabin (2) by cables.

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