AUV Based On Adaptive Locking And Alignment Technology Research On Underwater Docking Device

Autonomous Underwater Vehicle(AUV)is an important equipment for marine resource development and marine defense.Considering the structural size and weight requirements of the AUV itself,the energy carried by the AUV itself is limited.It is the current routine operation method to supplement the energy for the AUV by guaranteeing the mother ship,but there are problems such as long operation time,high labor intensity,poor safety,and concealment,which greatly It affects the application of AUV.Underwater docking technology can complete energy replenishment and information exchange without AUV surfacing,which is a hotspot in the research of AUV support technology.This paper aims at AUV’s underwater energy supplement and information exchange needs,and researches a universal docking device that can adapt to different sizes of AUVs,and realizes the self-adaptive locking and alignment of AUVs.Technical Support.By analyzing the development status of underwater docking mechanisms at home and abroad,summarizing the structural characteristics and existing problems of the three mainstream docking forms,and facing the needs of multi-size AUV docking,the overall scheme of docking technology is studied.Analyze the docking form and movement form of AUV,and determine the main structural scheme of the docking device.Considering the influence of complex marine environment factors,the structural schemes of the basic frame,azimuth slewing mechanism,buffer mechanism,clamping mechanism and alignment mechanism of the docking device are designed.In view of the control accuracy and braking requirements during the AUV docking process,the docking guide base frame and buffer mechanism are designed.Aiming at the attitude position deviation of the AUV after braking,the self-adaptive alignment mechanism is studied,and the axial movement mechanism and the circumferential rotation mechanism are designed to realize the self-adaptive alignment function between the alignment mechanism and the AUV.To meet the locking requirements of AUVs,design a locking mechanism for multi-size AUVs.Analyze the actuator,force and motion of the locking mechanism,analyze the loading of the scissor mechanism during work through the ANSYS statics module and the Fluent module,and finally analyze the motion stability of the scissor mechanism through the ADAMS software,and study Uneven loading of the scissor mechanism.Carry out performance index tests of electronic cabins,carry out underwater tests on the functions of locking mechanisms and alignment mechanisms,analyze the motion accuracy of alignment mechanisms,verify the stability of scissor mechanism underwater motion,and solve the problem of double-drive problems.The problem of uneven load under these conditions has laid a foundation for the AUV underwater docking test.