双球壳转动式对接裙运动学及水密性分析

KINEMATICS AND WATER TIGHTNESS ANALYSIS OF DOUBLE SPHERICAL SHELL ROTARY DOCKING SKIRT

为了解决失事潜艇存在较大横倾角和纵倾角难以对接的问题,研制一种双球壳转动式对接裙。根据该对接装置的工作原理,推导出对接裙的位姿方程和运动学模型,并根据其运动学模型得到失事潜艇在不同纵横倾角时方向裙和角度裙所需转动的角度。研究了关键转动关节的密封结构及密封原理,其中采用Yeoh模型作为O型密封圈超弹性本构关系曲线拟合相应材料参数,对密封结构进行了有限元仿真分析,得到了危险截面所在位置,通过对危险截面接触应力的分析验证了密封结构的合理性。利用该对接裙可完成失事潜艇倾角大、海流强、能见度低的工况下的对接任务,可大大提高救援成功率、降低救援难度。

In order to solve the problem that the submarine has large cross dip and longitudinal obliquity,a double ball shell rotary docking joint skirt is designed. According to the working principle of the docking device,the posture equation and kinematics model of the butt skirt are derived,and according to its kinematic model to obtain the accident submarine at different angles that the direction skirt and angle skirt angle of rotation required. The sealing structure and sealing principle of key revolute joint was studied,the Yeoh model was used as the super-elastic constitutive relation curve of the O-ring to fit the corresponding material parameters. The finite element simulation of the sealing structure was carried out,the location of the dangerous section is obtained,and the reasonableness of the seal structure is verified by the analysis of the contact stress of the dangerous section. The docking skirt can be used to complete the docking task of the accident submarine with large inclination,strong current and low visibility. Greatly improving the rescue success rate,reducing the difficulty of rescue.