The Research Of Black Box Dedicated Grab Tool In Deap Sea

With the increasing of cross-culture communication,more and more flights fly between two countries and air accident often occur.It is a tough task to retrieve black box after the plane falls into the sea.And now China doesn't have this kind of special tool.Thus,we designed a special black box gripper in this thesis,which is installed on manipulator in Haima ROV by a special interface.The circumstance in the deep sea is complex and it has a high requirement to reliability,leakproofness,resistance to high pressure when gripper is working.The greatest challenge special black box gripper faces is how to ensure the operational capacity,the ability of shape adaptability,lighter structure and bigger force increasing ratio of gripper in extreme working condition.This thesis focuses on the task of grabbing black box and analyzes the features of task according to the special conditions under the sea,confirming the transmission method,drive method and clamping method.The structure of special black box gripper is designed and mathematic model when gripper clamping is built.And its size and structure are analyzed and improved.Simulation analysis is done.For the deep-sea pressure working environment,a waterproof structure for hydraulic cylinder was designedThe main content of this thesis is as follows:The task requirement to gripper performance is analyzed and different drive method,transmission method and clamping method are compared.By this way,the form of gripper mechanism is confinned.The structure and size of every components of the gripper are designed.Analysis of the V-shaped gripper finger contact force when holding cylindrical objects based on finite line contact theory and numerical methods.The working principle of gripper is analyzed,and for the deep-sea pressure working environment,a waterproof structure for hydraulic cylinder was designed.The displacement,velocity and mechanical models of gripper are set up and the relationship between force increasing ratio and the length of each component is analyzed.The sizes of gripper's linkages are optimized based on penalty function,minimizing the sum of the connecting rod length.The main parameters of the hydraulic cylinder were design,so that the tool weight is reduced.According to Ansys workbench,the improved gripper is intensity check and optimized weight based on the topology.The structure and weight of gripper are more reasonable.The first-generation sample machine is made.In order to test its clamping ability,a black box prototype is made.In the laboratory,it is tested and improvement methods are proposed according to the experiment results.