Research On AUV Surface Recovery Device

With the accelerated consumption of non-renewable resources on land,the exploitation of Marine resources becomes more and more urgent.The exploitation of Marine resources requires advanced technology and equipment.In many Underwater equipment,unmanned and untethered Autonomous Underwater Vehicle(AUV)has the characteristics of wide operating range and flexibility,and plays an important role in Marine resources exploration and submarine pipeline exploration.Due to the limited energy carried by the AUV itself,regular energy replenishment and data transmission between the AUV and the mother ship are required.Therefore,it is of great significance and practical value to study the mother ship for AUV layout and recovery technology.There is no mature technology and device for AUV automatic recovery on the surface of the sea.According to the needs of the subject,this paper studies and designs the overall scheme of AUV automatic distribution and recovery as well as the functional modules such as guidance,capture,positioning,clamping and lifting.Overall program demonstration.This paper consulted and analyzed the relevant literature at home and abroad,and summarized.According to the requirements of this subject,the overall scheme of AUV recovery device is designed,demonstrated and finally determined for the water surface recovery method.According to the specific functional requirements of the recovery process,this paper designs the function modules such as guiding,capturing and lifting,and optimizes the function scheme.The main part of the recovery device adopts a floating type to realize floating on the sea.According to the function characteristics of the guiding module,the "trapezoidal" scheme is designed.According to some functional requirements of capture,an AUV capture scheme adapted to complex sea conditions is researched and designed.The existing results of the spreader are analyzed,and the lifting scheme suitable for this topic is demonstrated.Detailed analysis and engineering design of guidance module of AUV automatic distribution and recovery device.Research and design the guidance module without modifying the AUV.In this paper,the guide module is divided into folding mechanism and sliding device.In order to achieve the strength requirements of the folding mechanism,make appropriate structural adjustments.Design and optimize the specific structure according to the functional requirements.In order to determine the height and size of the guidance module,FLUENT is used to simulate the sag displacement of AUV under the sea wave.According to the guiding scheme,a series of structural design and calculation are carried out for the sliding device.The structure design of pulley,guide rail and limit part of sliding device is carried out.Detailed analysis and engineering design of capture,positioning,clamping and lifting parts of AUV automatic distribution and recovery devices.Due to complex sea conditions,the AUV is not at the same height as the recovery device,so the capture rod is designed to locate the AUV.Design a catch device at the end of the catch rod to grasp the AUV lifting point.In order to avoid the strength problem caused by the rigid connection between the AUV and the recovery device,a matching disengagement scheme is designed in combination with the capture scheme.The limiting mechanism is designed to restrict the displacement of AUV,reduce the length and size of the recovery device,and improve the lifting stability.Aiming at the lightweight requirements,the spreader suitable for this topic is designed,optimized and verified by simulation.The characteristics of different cables in the market are analyzed to determine the material and specifications of the rope in this paper.In order to ensure the connection between the recovery device and the lifting arm of the mother ship and facilitate lifting,the lifting rope transfer device is designed.The main frame and bracket of the recovery device are analyzed and designed to meet the requirements of load bearing and stability.Research on docking simulation of AUV automatic distribution and recovery device.The relative coordinate system is established to determine the attitude relationship between AUV and recovery device.The force analysis of AUV was carried out,the viscous resistance was calculated,and the total resistance of AUV in waves was obtained by FLUENT.In order to get the simulation results as real as possible,the theory of ADAMS collision correlation is studied,and the simulation parameters are calculated and selected.Different from the conventional fixed funnel butt joint,dynamic butt joint is adopted in this paper to reduce the collision force during butt joint.By analyzing the influence of different parameters on the docking process,the structure of the guide module is optimized to make the docking smoother.Through a series of simulation tests,the feasibility of the docking of the recovery device in this paper is verified.