倾斜滑道式自主回收AUV装置设计与实现  

Design and implementation of inclined slide type autonomous recovery AUV device

作　　者：张明远 孟令帅[1,2] 李明烁 谷海涛[1,2] 王正伟[1,2,3] ZHANG Mingyuan;MENG Lingshuai;LI Mingshuo;GU Haitao;ANG Zhengwei(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China;School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [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 [4]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《舰船科学技术》2025年第5期50-55,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(52301391);机器人学国家重点实验室自主课题(2022-Z05);沈阳市中青年科技创新人才支持计划(RC220524);异构机器人协同作业自主部署方法研究(2023JC3G01)。

摘　　要：随着全世界广泛聚焦深海资源勘探以及人类对海洋环境保护意识的不断加强,自主水下机器人(Autonomous Underwater Vehicle,AUV)取得广泛应用。当前AUV作业完成后或需补充能源时,需通过有人船舶多人配合操作对其回收,危险系数高且工作效率低。为解决有人船舶回收AUV存在的问题,设计一种基于水面无人船(Unmanned Surface Vehicle,USV)的倾斜滑道式自主回收AUV装置,从工作原理、机械设计、力学理论及仿真分析等方面展开研究,最终搭建系统原理样机并进行试验。经试验验证,该装置能稳定可靠地实现对AUV的自主回收。为未来无人化、高效化自主回收AUV系统的实现提供一定技术储备。With the world's extensive focus on deep-sea resource exploration and mankind's increasing awareness of marine environmental protection,autonomous underwater vehicle(AUV)have been widely used.Currently,AUVs need to be recovered by manned vessels with the cooperation of many people after the completion of operation or when they need to replenish energy,which has a high risk factor and low working efficiency.In order to solve the problems of AUV recovery by manned vessels,a tilting chute type autonomous recovery AUV device based on unmanned surface vehicle(USV)is de-signed in this paper,and the research is carried out in terms of the working principle,mechanical design,mechanical theory and simulation analysis,and the system prototype is finally constructed and tested.After test verification,the device can achieve the autonomous recovery of AUV stably and reliably.It provides certain technical reserve for the realization of un-manned and efficient autonomous recovery system of AUV in the future.

关 键 词：回收装置 机械设计 静力学分析 动力学分析 试验验证 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]