拖曳式ROV的结构与低阻外形设计  

Structure and low-resistance shape design of a towed-ROV

作　　者：陈鑫 李彬[1,2] 李智刚[1,2] 唐实[1,2] 陶祎春[1,2] CHEN Xin;LI Bin;LI Zhi-gang;TANG Shi;TAO Yi-chun(Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110169,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110169 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《舰船科学技术》2023年第13期69-75,共7页Ship Science and Technology

摘　　要：在深海应急搜救过程中,通常要使用深拖系统、AUV、ROV等不同功能的深海装备交替作业,在目标海域开展大范围搜探、疑似目标确认、处置作业等任务。多种深海装备同时配合使用,不仅支援保障难度大,而且装备布放回收占用大量作业时间,导致作业效率低、耗费大。针对上述问题,提出一种融合作业级ROV与深海拖曳系统功能的新型潜水器—拖曳式ROV,其具有高速拖曳和处置作业双工作模式,并可在水下按需快速切换。结构方面,通过双电机由行星齿轮差速器耦合驱动一组垂向变形机构组成变结构装置,并结合冗余设计,实现高速拖曳/处置作业模式的可靠切换;外形方面,拖曳式ROV引入了低阻线型,通过CAD参数化设计结合CFD阻力分析,获得了低阻力流线型外观。In the deep sea recovery missions,deep-sea vehicles like deep-tow system,AUV and ROV are deployed in the target area to alternately undertake operations such as wide area search,suspected target confirming and handling.By using different kinds of vehicles in the one mission,not only it will be difficult to hold the support,but spend a lot of time to launch and recovery the vehicles,creating a low efficiency and a high cost.In this paper,a new underwater vehicle that combines features of both work class ROV and deep-towed system is presented—towed-ROV,with the ability to switch modes underwater rapidly between being towed or handling.In the aspect of structure,the dual-motors are combined by a planetary gear differential to drive the vertical lifters as the transformation system,enabling the feature of mode switching reliably with redundant design.In the aspect of body-shape,the towed-ROV has a low-resistance shape after parametric curve design with CAD and CFD analysis tools.

关 键 词：遥控水下机器人 拖曳式ROV 变结构设计 外形设计 CFD 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]