Research On Key Technology Of Half-bury-torpedo Device

Half-burying-torpedo device is researched to salvage burying torpedo. The main aim is to develop a device which can clear the earth around torpedo and salvage the torpedo from the water credibly. Half-burying-torpedo device is carried to the guiding cover of the torpedo by manipulator of the underwater vehicle. The torpedo is clamped by the noumenon of the half-burying-torpedo device. The noumenon is locked by itself, entering into torpedo through the guiding cover. After the action is noticed to support vessel by the underwater vehicle, the half-burying-torpedo device is controlled to salvage torpedo by the controller in the support vessel.The development of half-burying-torpedo device and the exploration of entire- burying-torpedo device were assigned in No. (92)1934 document-Deep Underwater Vehicle II Design of 750 proving ground by original China State Shipbuilding Corporation in 1992. The half-burying-torpedo device was developed by Harbin Engineering University. The Development of new Half-burying-torpedo Device Contact was signed and optimized, including the research of the mechanical noumenon of half-burying-torpedo device, the technique of water jetting cutting and the driving system, the experiment of the researching result, and the theory improvement.The international and domestic development of torpedo salvaging technique and other correlating technique is introduced. The international and domestic researches of half-burying-torpedo device are expatiated. The existing half-burying-torpedo device is realized and analyzed, and then the new researching aim is put up with.The mechanical noumenon of half-burying-torpedo device is designed basing on the demands of the half-burying-torpedo device and the functions of the equipment, including the opening-and-closing machine, the creeping-and-advancing machine, the muzzle swinging machine, the clamping machine, and etc. The clamping force of the creeping-and-advancing machine is confirmed. The exterior outline of contact part of the clamping claw is optimized. The well-proportioned weight is distributed to the torpedo, avoiding the destroying of the torpedo.Basic water impinging jetting theory is presented for cutting the earth around the torpedo efficiently by water jetting. The characteristic and the pressure distribution of the impinging jetting in the center of submerged muzzle are studied. The water jetting pressure for cutting loam and the hydro-flux of the slurry are ascertained. The power of the water jetting system and the inverse force of the water jetting are calculated.The hydraulic control system of the half-burying-torpedo device was designed. The main parameters of the driving source of the hydraulic system are ascertained. The hydraulic servo system of the muzzle swinging machine was researched, and the whole controlling model is established. The main performance is imitating analyzed and revised.The water jetting cutting experiment system is built. The water jet cutting of the earth capabilities was researched under different pressure,nozzle diameter and at different swinging speed of the muzzle. The optimal combination of the water jet pressure, the swinging speed of the muzzle and the creeping speed of the noumenon of half-burying-torpedo device is gained by linear regression method.The recycling of the torpedo is advanced by the development of new salvaging device. A large amount of expense is also saved. While most fuel of the torpedo is toxic, the environment of the lake is polluted by the burying torpedo, and the balance of the zoology is also destroyed, the great social benefits are contributed by the half-burying-torpedo device design.