70 results about "Deep-sea exploration" patented technology

The invention aims to provide a seven-functional underwater mechanical arm system. The seven-functional underwater mechanical arm system comprises a paw, a wrist, a first joint, a second joint, a third joint, a fourth joint and a fifth joint, wherein the first joint comprises a base and a first hydraulic cylinder; the second joint comprises a first connecting rod and a second hydraulic cylinder; the third joint comprises a second connecting rod and a third hydraulic cylinder; the fourth joint comprises a third connecting rod and a fourth hydraulic cylinder; the fifth joint comprises a fourth connecting rod and a fifth hydraulic cylinder; the paw comprises a front wrist end, a first finger end, a second finger end, a first main connecting rod, a second main connecting rod, a first auxiliary connecting rod, a second auxiliary connecting rod and a sixth hydraulic cylinder; the wrist comprises a connecting piece, a rotary motor and a fifth connecting rod. The seven-functional underwater mechanical arm system is simple and compact in structure and high in loading capacity, has seven degrees of freedom, and has higher applicability to deep sea exploration and corresponding seabed operation; the mechanical paw is detachable and replaceable.

The invention discloses a parallel multi-manipulator mechanism. The parallel multi-manipulator mechanism comprises an SP-type shaft sleeve set, a machine base, a movable table, four SPS-type driving branches, inner and outer flexible finger mechanisms and three screw drivers. The SP-type shaft sleeve set comprises a core tube, an inner sleeve, a fixed sleeve, an outer sleeve and a ball sleeve. The ball sleeve is connected with a ball pair of the machine base. One end of the fixed sleeve is vertically and fixedly connected with the movable table. The fixed sleeve is further connected with the inner sleeve and the outer sleeve in the radial direction in a sliding mode. The three screw drivers drive the core tube, the inner sleeve and the outer sleeve to be stretched and retracted. The fixed sleeve, the inner sleeve and the outer sleeve form inner and outer manipulator mechanisms which are circumferentially and evenly distributed in a staggered mode through connecting rods and under-actuated branches. One end of the core tube can move along with operation tools like scalpels, hose sight glasses, syringe needles and tooth drilling and polishing utensils to absorb and convey fluid. The long and thin SP-type shaft sleeve set can stretch into a narrow space along with the inner and outer manipulator mechanisms to achieve alternate grabbing and spatial expansion, and the core tube is used for expanding life channels. The parallel multi-manipulator mechanism is simple and compact in structure and suitable for idle station maintenance, deep sea exploration, medical operations and disaster area relief.

A robot-type deeply diving apparatus able to be submerged on sea bed and automatically return back is composed of a container with opening, a guide tube with a valve for exhausting the air from said container before it is dived, at least one plat form for installing instrument on it, an instrument carrier under said container, and a cable connected between said container and instrument carrier. It can be used for deep sea exploration.

The present invention is one kind of elevating rail car for marine ship to setting deep sea exploration equipment on. The elevating rail car includes one fixed frame, wheels to fit the rail, one travel driving unit, one elevating seat on one elevating unit and one turnover preventing unit below the fixed frame. The fixed frame and the elevating seat have U-shaped structures corresponding to each other. The elevating rail may be moved horizontally and vertically, and has convenient use, easy maintenance, high stability and high safety.

A free vehicle suitable to serve as a platform to carry a variety of equipment to the ocean floor, actuate devices at the floor and at intermediate points on the way to and returning from the ocean floor is described. The free vehicle includes standardized power, control electronics, navigation equipment and mechanical release mechanisms that can be used in conjunction with custom experiments. Exemplary experiments include sensors and sampling equipment used for deep-sea exploration. The free vehicle platform provides for scalable designs to meet scientific needs and surface vessel constraints.

The invention discloses an offshore drilling marine riser resistant to deepwater conquassation and a manufacturing method of the offshore drilling marine riser. A pipe material comprises, by mass, 0.04-0.08% of C, 0.10-0.30% of Si, 1.40-1.80% of Mn, 0-0.015% of P, 0-0.002% of S, 0.10-0.50% of Ni, 0.10-0.35% of Cr, 0.10-0.40% of Cu, 0.05-0.35% of Mo, 0.005-0.06% of Nb, 0.01-0.06% of V, 0.005-0.025% of Ti, 0.02-0.06% of Al, 0.002-0.006% of N, 0-0.0005% of B, 0.0015-0.0035% of Ca, and the balance Fe and inevitable impurities, wherein Ti/N equals to 1.5-4.0, and Nb+V+Ti<=0.15. The welding crack sensibility index Pcm is smaller than or equal to 0.19. A pipe material structure is composed of ferrite and bainite, and the fraction of the bainite is larger than 80%. According to the manufacturing method, the submerged arc welding technology in an internal and external multi-wire mode is adopted, the steel pipe total length expanding technology with the expanding ratio being 0.80-1.50% is adopted, a steel pipe is high in strength and toughness and excellent in compressive strength and corrosion resistance, and the offshore drilling marine riser is suitable for deep sea exploration and drilling operation under the complex service condition with the water depth being 1500 m or above.

The invention discloses a self-adaptive seabed lander based on load-rejectable foot pads, and belongs to the technical field of deep sea exploration. The seabed lander comprises a buoyancy frame, a support mechanism and a release mechanism. The support mechanism comprises a plurality of telescopic support legs, a leveling control system and the load-rejectable foot pads; the telescopic support legs are symmetrically arranged at the bottom edge of the buoyancy frame; the leveling control system comprises an attitude sensor module and a control host, the attitude sensor module acquires externalattitude data of the seabed lander and transmits the data to the control host, and the control host controls and adjusts the lengths of the telescopic support legs to adjust the seabed lander horizontal; the load-rejectable foot pads as counterweights are arranged at the bottom ends of the telescopic support legs respectively. The release mechanism comprises acoustic releasers connected with the load-rejectable foot pads. The self-adaptive seabed lander has the advantages that the attitude of the lander during landing is adjusted in real time through the telescopic support legs to prevent thelander from falling down, and the lander adapts to various complicated seabed environments; the load-rejectable foot pads can be used as both ballasts and landing supports.

The invention relates to a robot frogman and a palm assembly, and belongs to the technical field of robots. The palm assembly comprises a palm base and a plurality of fingers, wherein the each fingercomprises joints, knuckles and joint corner driving mechanisms which are sequentially arranged through connection, the each joint corner driving mechanism comprises a corresponding shape memory alloywire used for driving corresponding two adjacent knuckles to rotate forwards and reversely, the each shape memory alloy wire comprises two or more shape memory alloy wire sections, the adjacent ends of the two corresponding shape memory alloy wire sections of the each shape memory alloy wire are fixedly connected through a corresponding sliding block, and the sliding blocks on the shape memory alloy wires are installed in the palm base and/or the knuckles in a sliding mode. On the basis of the palm assembly with an improved structure, the effective length of the alloy wires can be effectivelyshortened while the knuckle action response speed is increased, and the palm assembly can be widely applied to the technical fields of robots, deep sea exploration and the like.

The present invention involves inhibiting clathrate hydrate formation by adding ionic liquids that are soluble in water. Properly tailored ionic liquids shift the hydrate-aqueous liquid-vapor equilibrium curve to a lower temperature and, at the same time, retard the hydrate formation by slowing down the hydrate nucleation rate. This dual function makes this type of inhibitors perform more effectively. The present invention is useful for the production, processing, and transportation in oil and gas industry, especially for deep-sea exploration and production where the operating temperature and pressure become in favor of hydrate formation.

The invention discloses a deepwater carrying cable. The cable mainly solves the technical problems of low tensile strength, large volume, poor flexibility and the like of the conventional common cable. The technical scheme adopts the key points that: more than three conductive core wires form a core cable, the center of the core cable is provided with a water-repellent and tensile core rope, and water-repellent and tensile ropes are filled among the conductive core wires; one or more than two circles of conductive core wire layers composed of more than five conductive core wires in circumferential distribution are arranged around the core cable; and a water-repellent and tensile layer and a sheath layer are sequentially arranged from inside to outside of the periphery of the conductive core wire layer. The cable is mainly suitable for 250 V and below deep-water carrying environment with higher requirements on chemical resistance, fire resistance and safe reliability, serves as a power cable of an electrical system and a wire for installing and connecting electrical equipment and instruments, and can be widely applied to the equipment for deep sea exploration, sea oil logging, national defense weaponry, various vehicle-mounted systems and the like.

The invention relates to an ultrasonic ranging-based CPS embedded underwater sensor positioning device, belonging to the technical field of ocean control equipment. The ultrasonic ranging-based CPS embedded underwater sensor positioning device comprises an ultrasonic ranging sensor, a measurement circuit, a deviation gain circuit, an A/D conversion circuit, a power amplification circuit, a single-chip microcomputer control module, an LED lamp, an air pump, a float switch, an air intake valve, a GPS module and a battery pack. The ultrasonic ranging sensor is connected with the measurement circuit, which is connected with the deviation gain circuit. The deviation gain circuit is connected with the A/D conversion circuit, which is connected with the power amplification circuit. The power amplification circuit is connected with the single-chip microcomputer control module. With a simple structure, the ultrasonic ranging-based CPS embedded underwater sensor positioning device of the invention is flexible to operate, is low in cost and is environment-friendly and durable. Data are updated by employing GPS remote wireless transmission, thereby realizing accurate positioning of objects and achieving important significance for deep sea exploration and archaeological excavation.

The invention discloses a serial-parallel operation manipulator device containing seven-bar flexible force-sensing fingers. The serial-parallel operation manipulator device comprises a parallel mechanism and seven-bar flexible force-sensing finger mechanisms. The parallel mechanism includes a machine seat, a moving table, a planar dual-drive branch mechanism and a linear electric cylinder, whereinthe planar dual-drive branch mechanism comprises an upper beam, a lower beam and two RPR type electric cylinders, the two RPR type electric cylinders are connected with the upper beam and the lower beam, and the upper beam and the lower beam are rotatably connected with the machine seat and the moving table separately; and the linear electric cylinder is connected with the machine seat and the moving table through a universal pair and a rotating pair correspondingly. The seven-bar flexible finger mechanisms include finger bar, electric cylinders, three-pair bars, force measuring bars, pull bars, springs and finger seats. The finger bars and the finger seats are rotatably connected to the two ends of the electric cylinders, the third-pair bars are rotatably connected with the finger bars,the force measuring bars and the pull bars, the pull bars are connected with sleeves of the finger seats through moving pairs, the two ends of the springs abuts against protruding circular truncated cones of the pull bars and sleeve hole bosses of the finger seats, and the finger seats are rotatably connected to the other ends of the force measuring bars; and the finger seats are fixedly connectedwith the moving table and distributed on the circumference of the moving table. The serial-parallel operation manipulator device containing the seven-bar flexible force-sensing finger is used for deep-sea exploration, rescue, processing and surgical operations.

The invention provides a submarine hydrothermal fluid thermoelectric power generation device, which comprises an evaporator for heating a liquid working medium into superheated steam, a generator for converting mechanical energy into electric energy, an expansion machine for acting to drive the generator to generate electricity by using superheated steam expansion, a circulating pump for driving the working medium to circulate, and a condenser for condensing working medium steam exhaust after acting through expansion into a fluid, wherein the expansion mechanism is connected with an input end of the generator and an inlet of the expansion machine communicates with an outlet of the evaporator; an outlet of the circulating pump communicates with the inlet of the evaporator; the inlet of the condenser communicates with the outlet of the expansion machine and the outlet of the condenser communicates with the inlet of the circulating pump. The hydrothermal fluid is taken as a heat source, surrounding seawater is taken as a cold source, and electric energy is provided for deep-sea exploration and operation equipment by adopting the mode of acting through closed thermal cycle-driven expansion, so that a lot of temperature difference energy of the deep-sea floor hydrothermal fluid can be effectively utilized.

The invention discloses a linear motor driving type plunger pump provided with multiple motion units. When a servo controller drives a linear motor to reciprocate in a special motion plan, plungers at one end are in water absorption working conditions, a suction valve in a corresponding integrated flow distribution valve is opened, and fluid is sucked into working medium from a total water suction pipe of a system through a flow guiding channel inside a cylinder body; and plungers at the other end are in a water discharging working condition, a delivery valve in the corresponding integrated flow distribution valve is opened, and the fluid is discharged from the working medium from a total water outlet pipe of the system through the flow guiding channel inside the cylinder body. When multiple linear motor motion units are in coordinated operation, the linear motor motion units respectively operate by being staggered for 90 degrees in phase difference according to a triangular wave motion curve, so that formed combined flow of the system can reach a stable value. The linear motor driving type plunger pump system is applicable to a hydraulic system with seawater, freshwater, mineral oil and the like as a working medium and has a broad application prospect in the fields of naval vessels, deep sea exploration and the like.

The invention discloses an EHA drive plunger pump and a control method thereof. The EHA driving plunger pump is composed of cylinder bodies, integrated flow distribution valves, a water outlet main pipe, oil distribution boxes, oil circuit blocks, servo motors, a base, a water inlet main pipe, cylinder barrels, pump set plungers, hydraulic cylinders, a supporting plate, hydraulic cylinder plungerrods, rod end ball bearings and the like. The EHA driving plunger pump adopts EHA as a driving device, the movement of the hydraulic cylinders are controlled through the bidirectional hydraulic pumpsso as to drive the pump set plungers to move, and the function of water suction and drainage is realized; through servo control, the positive rotation, reverse rotation and speed regulation operationof the motor can be controlled. When the pump set plungers reciprocate in a specific motion planning mode, one ends of plungers are in a water absorption working condition, the suction valve in the corresponding integrated flow distribution valves are opened, and the fluid is sucked into the working medium from the system main water suction pipe through flow guide channels in the cylinder bodies.According to the EHA drive plunger pump and the control method, the complex working condition of the ship pump can be met, and the application prospect of the EHA driving plunger pump system in the fields of naval vessels, deep sea exploration and the like is greatly improved.