水下机器人锁紧释放技术综述

Hold-down and release mechanism of unmanned underwater vehicle

叙述了锁紧释放系统在水下机器人上的应用,说明了锁紧释放装置是控制水下机器人作业的重要手段。分析了天津大学研制的水下机器人解锁释放搭载体和设备、半埋雷打捞装置夹紧爪和美国某型号武器水下发射装置完成预定任务的工作原理和结构特点。归纳总结了水下大型构件锁紧释放系统设计中应着重考虑的问题。讨论了动力源形式的选择和力(矩)裕度分析、支撑与紧固点的选择、锁紧与释放形式的选择和实现、密封技术等四项锁紧释放机构的关键技术。

It illuminates the function of hold-down and release mechanism used in unmanned un-derwater vehicle（UUV）.The hold-down and release device plays an important part in the use of un-manned underwater vehicles.As some examples,it analyzes the structure characteristic and work principle with a hold-down and release mechanism designed by Tianjin University,salvaging apparatus for underwa-ter half-buried torpedo,an underwater delivery system of America.On the basis of those,it concludes the important technical projects.Afterward four key technologies of hold-down and release mechanism are dis-cussed,such as choosing power and analyzing the force（torque）margin,choosing the supporting and fixing points,selecting and realizing the methods of hold-down and release,sealing method.