Desige Study On The Attachment And Hydraulic System Of AUV Underwater Docking Device

AUV (Autonomous Underwear Vehicle) is an important equipment on the areas of marine science and technology investigation, undersea exploration and undersea salvage.AUV usually has a limited life of energy,and the traditional way of recycling is affected by the storm and other sea conditions,so the underwater docking technology becomes a new way of recycling and energy supplement. Underwater docking technology is the cutting edge in the field of AUV technology, through mounting the AUV on the underwater docking device, completing the AUV's energy supplement, data upload and download underwater.Due to the characteristics of AUV and the docking tasks are vastly different, there is a variety of underwater docking forms. Cone-oriented hood is one of the important forms.Through the analysis and summary of AUV underwater docking system,this article searchs on the AUV and the Cone-oriented hood underwater docking device, carries out the design study on the attachment and hydraulic system of the underwater docking device.In the study of the implementing agencies, according to the technical requirements of the subject,this article analyzes the functional requirements of the implementing agencies,determines the programs of each implementing agencies. This article designes the brake mechanism and worm rotary drive mechanism,and the combination of both as a whole,along with brake and drive shaft docking device functions. Sealing and pressure in the form of structural analysis, using high pressure proximity switch is designed to locate the trigger mechanism,and the pressure cylinder checking the finite element analysis. For a long time the problem of maintaining the clamping force, clamping mechanism designed to protect the use of mechanical spring force, Teflon slider trench structure with reduced sliding friction and protect the rails to avoid impurities via accommodate bodies stuck. For charging connector on the position, angle the problem of high accuracy requirements,design a self-lubricating spherical ball joint structure, so that the charging docking mechanism with tilt adaptive capacity, while the hollow-like structure to solve the problem of charging cable arrangement. Braking with the rotary drive mechanism developed in this article, locate the trigger mechanism, the clamping mechanism and charging docking mechanism to meet the top stream AUV docking, AUV-oriented positioning, AUV docking and charging a fixed locking position accuracy and other technical requirements.This article compares the remote hydraulic source technologies, static source technology and deep sea hydraulics three kinds of deep-sea hydraulic system technologies,analyzes their advantages and disadvantages and conditions. For the deep-sea environment,this article designs a closed deep-sea hydraulic system based on pressure compensation technology. This article studies on the pressure compensation technology, analyzes the impact of hydraulic components and seals, completes the design of hydraulic system circuit,develops a hydraulic cylinder with position feedback and a pressure compensator. This article analyzes and calculates the characteristics of the pressure compensator, the pressure loss and the impact of stress problems for the deep-sea hydraulic system.This article completes the design of control system for hydraulic system, through building the experimental platform for a complete AUV docking process and exit process simulation,verifies the attachment and hydraulic system.