摘要
为解决纵横倾角较大的失事潜艇救援对接极为困难的问题,研制一种具有2自由度活动转裙的新型水下对接装置。根据装置的工作原理,建立转裙对接运动学模型,确定其可行的作业范围,并对救生艇对接时转裙位姿的调整进行仿真。研究转裙转动关节传动的结构形式及其密封原理,进行转裙总体结构的虚拟样机设计,给出转裙重要的技术参数。设计的转裙液压驱动系统,实现样机运转灵活、速度平稳、位姿调整方便精确。进行样机的耐外压与水密试验研究,试验结果表明转裙的密封性能、强度及稳定性均达到了设计水深指标的要求。利用该装置可实现对接裙口的方位在一定范围内连续调整,可较好地实现在大倾角、大海流、低能见度工况下的对接作业,提高潜艇救援对接的效率和成功率。
To solve the problem that a rescue vehicle is very difficult to mate with a wrecked submarine with large trim and heel angles,a novel underwater mating device with two degrees of freedom articulated skirt is designed.According to the device working principle,kinematic model of mating process is established,and working field of the articulated skirt is defined,and its posture adjustment is simulated.Mechanical structure and sealing principle of the rotation joint are studied.The virtual prototype and some important technical parameters of the articulated skirt are provided.The articulated skirt,be revolved flexibly and smoothly,and its posture can be controlled accurately and conveniently by the hydraulic system designed.The external pressure resistance and watertight tests of the prototype are researched.The test results show that the sealing performance,strength and stability of the articulated skirt satisfy the design requirements.Mating plane of the articulated skirt can be adjusted continuously in a certain range.In the cases of large inclined angle,higher ocean current and poor invisibility,the mating work can be carried out finely,so the efficiency and success rate of the submarine rescue are enhanced.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第9期39-44,共6页
Journal of Mechanical Engineering
关键词
水下对接
运动学
样机研制
Underwater mating Kinematics Prototype development
