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CN-122008306-A - Underwater liquid metal flexible joint driving method and device

CN122008306ACN 122008306 ACN122008306 ACN 122008306ACN-122008306-A

Abstract

The invention discloses a method and a device for driving an underwater liquid metal flexible joint, which comprise the steps of collecting underwater environment parameters, completing modularized configuration of the flexible joint according to the environment parameters, completing self-balancing of internal and external pressure and positioning of an operation surface after the flexible joint is submerged to an operation depth, obtaining an operation position and an adsorption position, starting an electric control adsorption system in the flexible joint, adsorbing the electric control adsorption system at the adsorption position, overhauling the flexible joint at the operation position, monitoring the running state of the flexible joint in real time during overhauling, and floating up to recycle the flexible joint after overhauling, so that the flexible joint can be adsorbed on concrete gates and steel plates covered with algae, thereby improving adsorption suitability of different environments made of different materials.

Inventors

  • DU JIAN
  • WANG ZHAOYANG
  • SHI XIN

Assignees

  • 华电郑州机械设计研究院有限公司

Dates

Publication Date
20260512
Application Date
20260311

Claims (10)

  1. 1. A method of driving an underwater liquid metal flexible joint, comprising: s1, collecting underwater environmental parameters; s2, completing modularized configuration of the flexible joint according to environmental parameters; S3, after the flexible joint is submerged to the operation depth, the self-balancing of internal and external pressure and the positioning of an operation surface are completed, and an operation position and an adsorption position are obtained; s4, starting an electric control adsorption system in the flexible joint to be adsorbed at the adsorption position, and overhauling the flexible joint at the operation position; s5, monitoring the running state of the flexible joint in real time in the process of overhauling operation; S6, after the overhaul operation is completed, floating upwards to recover the flexible joint.
  2. 2. The method of claim 1, wherein the environmental parameters include water depth, work surface material, and work gap size.
  3. 3. The method for driving an underwater liquid metal flexible joint according to claim 1, wherein S2 comprises: according to the material of the working surface, an electric control adsorption system is arranged on the flexible joint chassis, and the electric control adsorption system comprises a plurality of adsorption soles; according to the water depth and the operation gap size, a multi-degree-of-freedom liquid metal pressure-resistant flexible joint mechanical arm is configured; And configuring a protection and monitoring system according to the water depth, the working surface material and the working gap size.
  4. 4. The method for driving an underwater liquid metal flexible joint according to claim 1, wherein S3 comprises: The flexible joint is matched with the pressure of the underwater environment in real time by utilizing an internal and external pressure self-balancing structure of the flexible joint; the adsorption position is positioned firstly and then the operation position is positioned by a positioning system in the flexible joint.
  5. 5. The method for driving an underwater liquid metal flexible joint according to claim 1, wherein said S4 comprises: Starting an adsorption power supply, outputting high-frequency square wave voltage to an electrode array of an adsorption sole, establishing an underwater electric control adsorption force model, and confirming a first adsorption force; Establishing a strong electric field between the electrode array and the adsorbed wall surface through Johnsen-Rahbek effect, and confirming a second adsorption force; Adjusting the posture of the flexible joint, enabling the adsorption sole to be close to the wall surface to be overhauled, and completing adsorption according to the first adsorption force and the second adsorption force; a first control current is introduced into a liquid metal runner of the mechanical arm, the joint keeps a low-rigidity state according to a joint rigidity control formula, and the joint enters a narrow space to position a fault point; After the fault point is positioned, the input current of the liquid metal runner is instantaneously increased to a second control current, the mechanical arm is in a high-rigidity state, and the mechanical arm is matched with the tail end claw to finish powerful operation.
  6. 6. The method for driving an underwater liquid metal flexible joint according to claim 1, wherein the formula of the underwater electric control adsorption force model is as follows: Wherein, the For the first adsorption force, the first adsorption force is equal to the second adsorption force, In order to include the effective dielectric constant of the water film effect, For the high-frequency square-wave voltage to be applied, In order for the equivalent dielectric thickness to be the same, Is a dielectric constant of a vacuum and is a dielectric constant, Is the effective relative dielectric constant; the calculation formula of the equivalent dielectric thickness is as follows: Wherein, the For an air gap caused by the micro roughness of the contact surface, For the thickness of the insulating film, Is the effective dielectric constant of water and, Is the relative dielectric constant of the insulating layer, Is the residual water film thickness.
  7. 7. The method for driving an underwater liquid metal flexible joint according to claim 6, wherein the second adsorption force is calculated as follows: Wherein, the In order to achieve an interface charge density, In order to make contact with the electrical resistance, In order for the effective contact area to be available, To enhance the factor.
  8. 8. The method for driving an underwater liquid metal flexible joint according to claim 4, wherein the joint stiffness control formula is as follows: Wherein, the For the bending stiffness of the flexible joint, For the initial stiffness of the elastomeric substrate, Is the magnetic fluid pressure difference in the liquid metal runner, For the current density in the fluid, For the intensity of the external magnetic field, For the effective length of the flow channel, Is a stiffness proportionality coefficient.
  9. 9. The method for driving an underwater liquid metal flexible joint according to claim 1, wherein the S5 comprises: Detecting leakage current in real time through a microampere-level current sensor in the electrode, and automatically cutting off high-frequency square wave voltage input of the fault subarea when the leakage current is detected to exceed a preset threshold value; a negative potential is applied to the flexible joint chassis relative to the ambient water.
  10. 10. An underwater liquid metal flexible joint device, applying a method for driving an underwater liquid metal flexible joint as described in claims 1-9, characterized in that the system comprises: The acquisition system is used for acquiring underwater environmental parameters; The configuration system is used for completing the modularized configuration of the flexible joint according to the environmental parameters; the positioning system is used for completing internal and external pressure self-balancing and operation surface positioning after the flexible joint is submerged to the operation depth, so as to obtain an operation position and an adsorption position; the electronic control adsorption and mechanical arm system is used for adsorbing the flexible joint at the adsorption position, and the flexible joint performs maintenance operation at the operation position; The protection and monitoring system is used for monitoring the running state of the flexible joint in real time in the process of overhauling operation; And the propulsion system is used for floating upwards to recover the flexible joint after the overhaul operation is completed.

Description

Underwater liquid metal flexible joint driving method and device Technical Field The invention relates to the technical field of underwater facility overhaul, in particular to a method and a device for driving an underwater liquid metal flexible joint. Background Underwater facilities such as a hydraulic turbine runner, a concrete gate, a stainless steel runner, a trash rack and the like of the hydropower station are in a complex environment with deep water, high pressure and turbid water quality for a long time, and the working surface has the conditions of various materials, easy attachment of algae sludge on the surface and narrow working space. The liquid metal flexible joint is a novel bionic motion joint which is formed by taking room-temperature liquid metal as a core functional medium and combining a flexible matrix and a phase change regulation mechanism, and can realize reversible switching between flexible deformation and rigid bearing. When the existing underwater facilities are overhauled, the magnetic attraction can not absorb concrete and severely rusted surfaces, negative pressure absorption is needed to be continuously drained, the underwater facilities fail due to small internal and external pressure difference, the traditional grippers are difficult to apply force on smooth surfaces full of algae, the rigid structure is difficult to turn in a narrow blade gap or a gate slot, the adaptability is low, and the overhauling efficiency is low. Disclosure of Invention The invention provides a method and a device for driving an underwater liquid metal flexible joint, which are used for solving the technical problems in the background technology. The invention provides a driving method of an underwater liquid metal flexible joint, which comprises the following steps: s1, collecting underwater environmental parameters; s2, completing modularized configuration of the flexible joint according to environmental parameters; S3, after the flexible joint is submerged to the operation depth, the self-balancing of internal and external pressure and the positioning of an operation surface are completed, and an operation position and an adsorption position are obtained; s4, starting an electric control adsorption system in the flexible joint to be adsorbed at the adsorption position, and overhauling the flexible joint at the operation position; s5, monitoring the running state of the flexible joint in real time in the process of overhauling operation; S6, after the overhaul operation is completed, floating upwards to recover the flexible joint. Preferably, the environmental parameters include water depth, work surface material, and work gap size. Preferably, the S2 includes: according to the material of the working surface, an electric control adsorption system is arranged on the flexible joint chassis, and the electric control adsorption system comprises a plurality of adsorption soles; according to the water depth and the operation gap size, a multi-degree-of-freedom liquid metal pressure-resistant flexible joint mechanical arm is configured; And configuring a protection and monitoring system according to the water depth, the working surface material and the working gap size. Preferably, the S3 includes: The flexible joint is matched with the pressure of the underwater environment in real time by utilizing an internal and external pressure self-balancing structure of the flexible joint; the adsorption position is positioned firstly and then the operation position is positioned by a positioning system in the flexible joint. Preferably, the S4 includes: Starting an adsorption power supply, outputting high-frequency square wave voltage to an electrode array of an adsorption sole, establishing an underwater electric control adsorption force model, and confirming a first adsorption force; Establishing a strong electric field between the electrode array and the adsorbed wall surface through Johnsen-Rahbek effect, and confirming a second adsorption force; Adjusting the posture of the flexible joint, enabling the adsorption sole to be close to the wall surface to be overhauled, and completing adsorption according to the first adsorption force and the second adsorption force; a first control current is introduced into a liquid metal runner of the mechanical arm, the joint keeps a low-rigidity state according to a joint rigidity control formula, and the joint enters a narrow space to position a fault point; After the fault point is positioned, the input current of the liquid metal runner is instantaneously increased to a second control current, the mechanical arm is in a high-rigidity state, and the mechanical arm is matched with the tail end claw to finish powerful operation. Preferably, the formula of the underwater electric control adsorption force model is as follows: Wherein, the For the first adsorption force, the first adsorption force is equal to the second adsorption force,In order to include the effective