为实现自主水下航行器（Autonomous Underwater Vehicle，AUV）在大型水下航行器上的搭载，设计一种针对流线型外形重型AUV的新型水下动态对接回收装置。该装置主要由升降机构、横向调整机构、扶手机构、横滚调节机构、锁紧钩爪、框架结构以及驱动液压缸等部件组成。各部分机构按照设计的工作流程运作，可以完成AUV在6个自由度上的方向调整，同时实现对AUV的安全对接缓冲和快速稳定锁紧。依据各部分机构的机械结构和工作流程，设计对应的液压控制系统。整套装置为AUV实现其在水下大型航行器上的搭载提供支撑，具有一定的工程实用价值。
In order to realize the carrying of autonomous underwater vehicle on large underwater vehicles, a new underwater dynamic docking recovery device for streamlined heavy AUV is designed. The device is mainly composed of lifting mechanism, horizontal adjustment mechanism, armrest mechanism, roll adjustment mechanism, locking hook claw, frame structure and driving hydraulic cylinder. Each part of the mechanism operates according to the designed workflow, which can complete the direction adjustment of AUV in 6 degrees of freedom, while achieving safe docking buffering and fast and stable locking of AUV. According to the workflow and mechanical structure of each part of the mechanism, the corresponding hydraulic control system is designed. The entire device provides support for the AUV to be mounted on large underwater vehicles and has certain engineering practical value.
2025,15(15): 77-83 收稿日期：2024-9-6
DOI：10.3404/j.issn.1672-7649.2025.15.013
分类号：U674.91；TP242
作者简介：高之川(2001-),男,硕士研究生,研究方向为AUV水下布放回收技术
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