水下运载器新型对接裙口的结构及运动学研究

Research on Structure and Kinematics of a Novel Mating Skirt on the Underwater Vehicle

为了解决失事水下运载器在海况恶劣且纵横倾角过大情况下进行水下对接极为困难的问题,提出了一种具有活动转裙的新型水下对接装置。研究了活动转裙转动关节的结构形式,阐明了转裙的密封原理,利用有限元方法对转裙耐压球壳强度及密封过程进行了分析,推导了对接过程中活动转裙的运动学方程,分析结果表明了该设计的可行性。利用该装置,救生运载器能够以抵御海流的最佳角度进行对接,从而为在大倾角、高海流、低能见度工况条件下的安全、准确、快速对接提供了保障。

When the wrecked underwater vehicle is in the condition that the sea state is terrible and the angle of trim and heel is bigger, it is very difficult to mate with rescue vehicle. To solve this problem, a novel underwater mating apparatus with articulated skirt was designed herein. Its mechanical structure and sealing principle were provided. Finite element method was used to analyse the ultimate strength of pressure spherical and the sealing process of the articulated skirt, and kinematical equation during mating process was deduced finally. Analysis results show that the design project is feasible. If this apparatus is used, underwater rescue vehicles can against current at best angle during the mating process. This apparatus is a guarantee to mate safely, speedly and accurately in the case of big decli- ning angle, high ocean current and poor invisibility.