Research On AUV Passive Ejection Technology Of Full-ocean-depth Underwater Vehicle

To accelerate the development of ocean has become the consensus of all mankind,for deep exploration and development is of great significance to the sustainable development of human,underwater robot as the only access to the deep sea,the research of underwater robot has strategic significance,the safety of the underwater robot also nots allow to ignore,throw load system is the safety of the underwater robot self-help system,threw the load model is a kind of important passive mode,can be in the robot failure also can finish the task load,is the final life support in underwater robot mode,passive behind load on the safety of the robot is of great significance to.This paper focuses on the feasibility of the passive launching mode of underwater vehicle,and studies it from four aspects: the realization mode of the passive launching mode,the scheme demonstration of the passive launching mode,the underwater dynamics simulation analysis of key structures and the experimental demonstration of the passive launching mode.This paper studies the realization mode of the passive throwing mode.In view of the problem that the underwater vehicle's active jetting mode is greatly affected by the robot's own fault and the unknown deep sea environment,this paper proposes two passive jetting modes,namely timing jetting mode and bottom touching jetting mode.In view of the pure mechanical timing throwing mode,from the transmission,triggering and implementation of the program demonstration and related structural design,design of the timer exposed to water and the timer sealed in the pressure vessel two ways to achieve,focus on solving the sealing problem and power transmission problem.Based on the simple and reliable principle,we choose the most reliable scheme to ensure the safety of the robot.This paper studies the feasibility of the realization of the passive dumping mode.Aiming at the problem that ordinary pure mechanical timer cannot work normally underwater,this paper puts forward the idea of improving the key parts of timer.In view of the difficulty of "dynamic sealing" under high pressure environment,this paper proposes a sealing method based on high pressure skin bag to solve the problem of transferring the mechanical power inside the sealing chamber to the outside world under high pressure water environment.Through the dynamic calculation and analysis of the oscillating system of the gossamer wheel which is most affected by the water resistance in the timer,it is proved that it can work normally under the water environment and its fixed period and required torque are obtained.Mechanical calculation was conducted on the driving system of the purely mechanical timing and bottom setting mechanisms,and appropriate mechanical parameters were designed to demonstrate their feasibility in the deep-sea environment.The underwater dynamics of the oscillating system of the timer's hairspring pendulum is studied.In order to solve the problem that it is difficult to determine the dynamic state of the oscillating system of the hairspring pendulum,the key component of the improved mechanical timer,when it is working underwater,the dynamic simulation analysis of its underwater state is carried out.This paper mainly studies the start-up,stability and influence of parameters on the motion of the oscillating system of the hairspring pendulum,demonstrates that the timer can move continuously and reliably under water,and demonstrates that the designed mechanical and structural parameters can make the timer in a better motion state under water.Purely mechanical timing behind are verified through the experimental research,carry on land,pressure tank and pier under the environment of functionality,reliability,and timing accuracy,through experimental research,validation way bottom behind load under different ballast weight required for the bottom of the force,prove not due to the robot diving resistance under the possibility of "mistakenly thrown",through the experimental study,complete passive load way and the integration of the robot,validation after the integration of functional issues.