水下机器人推进器动密封自修复技术

发布时间：2018-03-02 08:54

本文关键词： 水下机器人 O型密封圈动密封自修复　出处：《中北大学》2015年硕士论文　论文类型：学位论文

【摘要】：海洋是地球生命的摇篮，是继陆地之后人类发展的第二大战略空间。21世纪，人类面临着人口迅速增长，，自然资源枯竭等难题，而海洋拥有丰富的水资源，是人类未来淡水资源的主要来源，还蕴含着大量的石油，天然气，可燃冰等能源，还包含铜、锰、镍、钴等各种矿产元素及形形色色的生物资源，基于此人类的目光逐渐伸向海洋，随着对海洋的开发不断的深入和加强，水下机器人成为探索和研究海洋必不可少的工具，发展水下机器人对提升我国的海洋研究能力和发展海洋战略具有重要作用。水下机器人的可靠性直接决定着水下机器人能否完成任务，而水下机器人推进器是水下机器人故障的主要来源，对水下机器人推进器进行故障模式和故障机理进行分析对提升水下机器人可靠性具有重要意义。本文针对动密封系统由于电机轴高速旋转和高水压的情况下易磨损失效导致漏水这一故障，提出动密封自修复技术设计方案。动密封自修复系统主要包括传感器模块，信号处理模块，MCU模块，电源模块，电机凸轮推进机构，动密封冗余机构，电机螺旋桨推进模块等。电源模块为各个模块提供电源，温湿度传感器选用DHT-11，置于艉轴动密封处，在水下机器人不做翻转运动的条件下，当艉轴处动密封磨损时水下机器人温湿传感器最先检测到湿度的变化，湿度传感器的信号经过调理放大电路处理送入单片机，从而单片机判断水下机器人艉轴动密封处是否漏水；温度传感器检测轴的温度，传感器信号经过调理放大电路处理送入单片机，单片机通过调节电机的转速来降低温度。单片机是整个动密封系统的控制中心，处理传感器信号并凸轮电机和螺旋桨电机的旋转。电机凸轮推进机构是电机旋转带动凸轮机构旋转，通过凸轮机构带动插销上下运动，从而控制压缩的弹簧在动密封系统磨损失效的情况下释放，推动动密封冗余机构与水下机器人内壁密封连接，从而防止在机器人水下机器人艉轴处密封失效的情况下不漏水，能够继续完成任务。最后通过实验论证，用水压泵模拟2MPA的水压，将螺旋桨推进器转速控制在766r/min,分两组检测，一组用未磨损的O型密封圈，一组用已磨损的O型密封圈，持续工作260h和780h后，观察弹簧是否释放，湿度传感器检测Qg舱是否渗水，实验结果证明自修复系统在动密封磨损失效的情况下启动，并能起到密封的作用，论证了自修复系统的可行性。
[Abstract]:The ocean is the cradle of life on the earth and the second strategic space for human development after the land. In the 21st century, human beings are faced with the problems of rapid population growth and depletion of natural resources, and the sea has abundant water resources. It is the main source of fresh water resources for human beings in the future. It also contains a large amount of oil, natural gas, combustible ice and other energy sources, as well as copper, manganese, nickel, cobalt and other mineral elements, as well as various biological resources. Based on this, human eyes gradually extend to the ocean. With the development of the ocean, the underwater vehicle becomes an indispensable tool to explore and study the ocean. The development of underwater vehicle plays an important role in enhancing our country's marine research ability and developing ocean strategy. The reliability of the underwater vehicle directly determines whether the underwater vehicle can complete the task, and the underwater vehicle propeller is the main source of the underwater vehicle fault. It is of great significance to analyze the fault mode and fault mechanism of underwater vehicle propeller to enhance the reliability of underwater vehicle. This paper aims at the easy grinding of dynamic seal system under the condition of high speed rotation of electric shaft and high water pressure. The loss of efficiency leads to the failure of water leakage, The design scheme of dynamic seal self-repairing technology is put forward. The dynamic seal self-repairing system mainly includes sensor module, signal processing module, MCU module, power module, motor cam propulsion mechanism, dynamic seal redundant mechanism, motor propeller propulsion module and so on. The temperature and humidity sensor DHT-11 is chosen to be placed in the dynamic seal of the stern shaft. Under the condition that the underwater vehicle does not turn over, the temperature and humidity sensor of the underwater vehicle detects the change of humidity first when the dynamic seal wear at the stern shaft. The signal of humidity sensor is processed by adjusting and amplifying circuit and sent to single chip microcomputer to judge whether the seal of stern shaft of underwater robot is leaking or not; the temperature sensor detects the temperature of shaft, The signal of the sensor is processed by the adjusting and amplifying circuit and sent to the single chip microcomputer, which reduces the temperature by adjusting the speed of the motor. The single chip microcomputer is the control center of the whole dynamic seal system. Processing the sensor signal and rotating the cam motor and propeller motor. The motor cam propulsive mechanism is the motor rotation to drive the cam mechanism to rotate, through the cam mechanism to drive the pin up and down movement, Thus, the compressed spring is released when the dynamic seal system is worn out, and the redundant mechanism of the dynamic seal is promoted to be connected to the inner wall of the underwater vehicle, thus preventing the leakage of water when the seal at the stern shaft of the underwater vehicle fails. Be able to continue with the task. Finally, the hydraulic pump was used to simulate the water pressure of 2MPA, and the speed of propeller propeller was controlled at 766r / min, which was divided into two groups: one group used O type seal ring without wear and the other group used worn O seal ring, which worked continuously for 260 h and 780 h. Whether the spring is released or not, the moisture sensor is used to detect whether the QG cabin is permeated or not. The experimental results show that the self-repairing system can be started under the condition of the dynamic seal wear failure and can play the role of sealing. The feasibility of the self-repairing system is demonstrated.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U672;TP242

【参考文献】