| Due to technical restrictions and the blocking of seawater,most of the human exploration areas are in shallow waters,and the exploration of the ocean abyss is weak.As a new type of ocean observation equipment,Autonomous Underwater Glider(AUG),it is widely used in military exploration and marine survey.The current underwater glider is mainly used within 1500 m,and the dive depth is still a certain distance from the full-ocean-depth.The full-ocean-depth underwater glider is a new research topic,and the development of full-ocean-depth underwater glider is of great significance to the hadal scientific exploration and the expansion of the use range of underwater glider.Therefore,this paper aimed at the development of the functional prototype of the full-ocean-depth underwater glider and designs and analyzes the main structure of the pressure-resistant cabin,main frame and fairing.It has passed the unit experiment and the sea test of the whole machine.The main research work and results of this paper are as follows: In view of the ultra-high water pressure in the deep sea,through the feasibility,economy,light weight and other factors of the comparison scheme,the glass is used as the material of the pressure-resistant chamber,and the ball-shaped pressure-resistant chamber is used as the structure of the pressure-resistant chamber.The main structural scheme consisting of three parts: pressure chamber,main frame and shroud.The layout scheme of the internal components of the glider is proposed.From the center of gravity of the glider,the position of the floating center and the geometric interference between the components,the overall layout of the glider is analyzed,and the layout scheme of the internal components of the glider is proposed.According to the layout and use requirements of the components,combined with the configuration of the pressure resistant chamber and the working condition of the glider,the lightweight main frame of the aluminum alloy and the water-drop type flow guide were designed,and the position of the lifting point was preliminarily designed.The strength and stiffness of the frame in land lifting and seawater recovery were analyzed by finite element method.The frame strength under different lifting points was analyzed and compared,and the optimal lifting point position was determined.The dynamic load and maximum tensile force of the suspension cable during the recovery process was analyzed.The strength analysis of the lifting structure was carried out,and the structure of stress concentration was enhanced.Topology optimization of the connectors reduces the weight of the connectors by 20% and reduces the overall weight of the main frame.The main structure of the glider was tested by laboratory and sea tests.The pressure resistance of the sealing elements and the strength of the main frame were tested by laboratory tests.The function of glider and the safety and stability of main structure were verified by sea test. |
