本文關(guān)鍵詞： 水下機(jī)器人 O型密封圈 動(dòng)密封 自修復(fù)　出處：《中北大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：海洋是地球生命的搖籃，是繼陸地之后人類發(fā)展的第二大戰(zhàn)略空間。21世紀(jì)，人類面臨著人口迅速增長，，自然資源枯竭等難題，而海洋擁有豐富的水資源，是人類未來淡水資源的主要來源，還蘊(yùn)含著大量的石油，天然氣，可燃冰等能源，還包含銅、錳、鎳、鈷等各種礦產(chǎn)元素及形形色色的生物資源，基于此人類的目光逐漸伸向海洋，隨著對(duì)海洋的開發(fā)不斷的深入和加強(qiáng)，水下機(jī)器人成為探索和研究海洋必不可少的工具，發(fā)展水下機(jī)器人對(duì)提升我國的海洋研究能力和發(fā)展海洋戰(zhàn)略具有重要作用。 水下機(jī)器人的可靠性直接決定著水下機(jī)器人能否完成任務(wù)，而水下機(jī)器人推進(jìn)器是水下機(jī)器人故障的主要來源，對(duì)水下機(jī)器人推進(jìn)器進(jìn)行故障模式和故障機(jī)理進(jìn)行分析對(duì)提升水下機(jī)器人可靠性具有重要意義。本文針對(duì)動(dòng)密封系統(tǒng)由于電機(jī)軸高速旋轉(zhuǎn)和高水壓的情況下易磨損失效導(dǎo)致漏水這一故障，提出動(dòng)密封自修復(fù)技術(shù)設(shè)計(jì)方案。 動(dòng)密封自修復(fù)系統(tǒng)主要包括傳感器模塊，信號(hào)處理模塊，MCU模塊，電源模塊，電機(jī)凸輪推進(jìn)機(jī)構(gòu)，動(dòng)密封冗余機(jī)構(gòu)，電機(jī)螺旋槳推進(jìn)模塊等。電源模塊為各個(gè)模塊提供電源，溫濕度傳感器選用DHT-11，置于艉軸動(dòng)密封處，在水下機(jī)器人不做翻轉(zhuǎn)運(yùn)動(dòng)的條件下，當(dāng)艉軸處動(dòng)密封磨損時(shí)水下機(jī)器人溫濕傳感器最先檢測到濕度的變化，濕度傳感器的信號(hào)經(jīng)過調(diào)理放大電路處理送入單片機(jī)，從而單片機(jī)判斷水下機(jī)器人艉軸動(dòng)密封處是否漏水；溫度傳感器檢測軸的溫度，傳感器信號(hào)經(jīng)過調(diào)理放大電路處理送入單片機(jī)，單片機(jī)通過調(diào)節(jié)電機(jī)的轉(zhuǎn)速來降低溫度。單片機(jī)是整個(gè)動(dòng)密封系統(tǒng)的控制中心，處理傳感器信號(hào)并凸輪電機(jī)和螺旋槳電機(jī)的旋轉(zhuǎn)。電機(jī)凸輪推進(jìn)機(jī)構(gòu)是電機(jī)旋轉(zhuǎn)帶動(dòng)凸輪機(jī)構(gòu)旋轉(zhuǎn)，通過凸輪機(jī)構(gòu)帶動(dòng)插銷上下運(yùn)動(dòng)，從而控制壓縮的彈簧在動(dòng)密封系統(tǒng)磨損失效的情況下釋放，推動(dòng)動(dòng)密封冗余機(jī)構(gòu)與水下機(jī)器人內(nèi)壁密封連接，從而防止在機(jī)器人水下機(jī)器人艉軸處密封失效的情況下不漏水，能夠繼續(xù)完成任務(wù)。 最后通過實(shí)驗(yàn)論證，用水壓泵模擬2MPA的水壓，將螺旋槳推進(jìn)器轉(zhuǎn)速控制在766r/min,分兩組檢測，一組用未磨損的O型密封圈，一組用已磨損的O型密封圈，持續(xù)工作260h和780h后，觀察彈簧是否釋放，濕度傳感器檢測Qg艙是否滲水，實(shí)驗(yàn)結(jié)果證明自修復(fù)系統(tǒng)在動(dòng)密封磨損失效的情況下啟動(dòng)，并能起到密封的作用，論證了自修復(fù)系統(tǒng)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.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：U672;TP242

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