The Research Of The Recovery Technology Of Underwater Equipment In Severe Sea State

The recovery technology of underwater equipment in severe sea condition has already been an important aspect in exploiting marine resources and conducting military activities under water worldwide.It can complete the tasks that can not be completed by humans, providing convenience、efficient and safe services for military activities, ocean exploration, disaster forecasting, environmental monitoring, construction and scientific research, thus,Countries around the world pay more and more attention on it.This technology has become a key technology that many countries are striving to develop. This paper makes some research about the recovery technology of underwater equipment in severe sea conditions, which are as follows:Firstly, this paper makes a comparison between the universal recovery equipments, Combined with the actual working environment, by researching the structure of the underwater equipment and improving the onboard general equipments, we figured out a new methods which are suitable for recovering underwater equipment in severe sea condition.Secondly, based on analytical mechanics and Lagrange equation, we build the dynamic model of the load and the recovery equipments device, then simplify this model according to the reliability and safety of the technical requirements related to anti-swing, get the factors which affect the swing angle of the load.Thirdly,Based on the space constraints of the underwater equipment which are avaluable for capturing,the requirements of the working tasks and environment, the three-dimensional model of the capture device is designed by comprehensive use of modern design method.Futuremore, This paper build the virtual prototype model of the recovery devices,and then make a simulation to this model, finally, we study and analysis the simulation results. From the results, we get the trajectory path of the capaure device and the force changes of the rope under the incentive of sea state four, which provide reference for how to ensure the stability of the auxiliary frame and how to position the hook point of the underwater equipment accurately.Besides, we build the virtual prototype model of that the recovery devices hoist the underwater equipment, and then make a simulation to this model, finally, we study and analysis the simulation results. From the results, we establish the stress state of the grappling hook while the capture device working in harshest conditions,which provide the theoretic foundation for the finite element simulation of the capture device;Extracting the swing displacement curve of the underwater equipment in the x and y direction in sea state three and four, then make a brief analysis for the influence factors of the swing and the way to reduce the swing of the underwater equipment.Finally, we establish the finite element model of the capture device, analysis the static of the capture device, which provide technical support for optimization design of the capture device; Besides, we establish a virtual prototype model of the capture device, conduct the simulation study and analysis of the kinematics and dynamics of the capture device to test whether the function of the capture devices meet the requirements. Meanwhile, we learn that the working performance of the capture device is in a reasonable range.