Design And Analysis Of Deep-sea Electric Connection Mechanism For Underwater Robot And Tools

With the rapid development of deep-sea resources and the demand of scientific research and exploration underwater robot is more and more widely used.The deep-sea electric connection mechanism is used between the underwater robot and the operation tool,which plays the role of mechanical connection and power signal transmission,so that the robot can change the operation tool without floating to the surface of the water,which is in great demand.This field is still in its infancy in China,and the existing products have some problems,such as shallow working water,low reliability,and unable to plug and unplug with electricity.In this paper,a deep-sea electric connection mechanism of underwater robot and tool is designed.The pressure balance structure,sealing structure and inserting and pulling force are analyzed to verify the reliability of its deep-sea work.In this paper,the significance of the research on the deep-sea electric connection mechanism of underwater robots and tools is firstly expounded,and the research status of the key technologies of butt locking and separation,pressure balance,sealing and corrosion prevention of the relevant products and electric connection mechanism at home and abroad is summarized.Based on this,the deep-sea electric connection mechanism of underwater robot and tool is designed,and its structure and working principle are shown through the profile map.The mechanism of butt locking and separation structure,dynamic sealing structure and pressure balance structure of the designed electric connection mechanism is described,and anticorrosion materials are selected.In order to reduce the sealing difficulty and insertion force in the process of docking and separation of electric connection mechanism,the pressure balance structure was studied.Based on the film theory and liquid compression theory,the pressure difference calculation algorithm of the internal expansion soft sac pressure balance structure was established,the factors affecting the pressure balance performance were analyzed,and the influence rules of these factors were simulated.The results show that the pressure balance performance can be enhanced by increasing the surface area of the soft sac,reducing the thickness of the soft sac,choosing the soft sac material with low elastic modulus and choosing the oil medium with high volume elastic coefficient.Based on the effect of pressure balance,the static sealing structure and dynamic sealing structure of electric connection mechanism are studied.The surface contact stress of the star seal ring used in the static seal structure is calculated,and the leakage iteration algorithm of the double channel O seal ring used in the dynamic seal structure is established.The simulation results show that the designed seal structure meets the requirements of the deep-sea seal environment.In addition to the pressure balance performance and sealing performance,the inserting and pulling force affects the reliability of the underwater vehicle and tool docking.In this paper,the insertion and separation process of the electric connection mechanism is divided into four stages,and the calculation algorithm is established according to the different sources of the insertion and withdrawal force in each stage.The simulation experiment is conducted on the insertion and withdrawal force of the electric core insertion pin during the entire insertion and withdrawal process.The influence of different influencing factors is analyzed through orthogonal experiment,and the insertion and withdrawal force can meet the design requirements after optimized design.