Research On The Key Technology Of The Quick-change Connector Of Underwater Toolkit

Quick-change connector of underwater toolkit is an important device to realize the task of underwater robot changing tool under water.Although the relevant research in our country has some achievements,there is still a big gap compared with foreign countries.In this paper,the quick-change connector is designed,the key technology is studied,and the experimental verification is carried out.It is of great practical value to improve the working range of underwater operation system in China.First of all,the development status of the quick-change connector at home and abroad is introduced.According to the working environment of the quick-change connector,the system composition of the quick-change connector is analyzed.This paper studies the structure scheme of the guiding device,the locking transmission device,and the oil docking device in the quick-change connector.This paper introduces the operation process of the quick-change connector.The docking tolerance capability of the quick-change connector is analyzed.The projection equation is obtained by using coordinate transformation method,and the geometric and mechanical conditions that need to be satisfied for the guiding device of the quick-change connector are analyzed,and the theoretical tolerance range of pose is obtained.The docking process of the quick-change connector is simulated.Analyze whether the quick-change connector can be successfully connected under the limit pose deviation.The influence of relative velocity and friction coefficient on the contact force is analyzed.The relationship between stress and strain in rubber material and model parameters of rubber material is analyzed.Uniaxial tensile test of NBR is carried out.The model parameters of rubber material are obtained by fitting the data with ANSYS and Matlab.The polygon seal ring and O-ring in the oil docking device are simulated.The influence of height,angle,fillet and spring force on the seal performance of polygon seal ring is obtained.The influence of pre compression ratio and liquid pressure on the sealing performance of O-ring is obtained.The key performance parameters of the locking transmission device are calculated,checked and analyzed by finite element method.The land experiment platform is built.The docking experiment,locking experiment and hydraulic experiment are carried out to verify the rationality of the quick-change connector designed in this paper.In this paper,the structure design,theoretical derivation,simulation analysis and experimental verification of the key technologies of the quick-change connector of underwater toolkit are carried out.It provides a reference for the next underwater test of the engineering prototype of the quick-change connector.