共查询到18条相似文献,搜索用时 968 毫秒
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从船坞内作业和水下作业这两个方面对目前国内外所有船体清洗机器人的开发现状进行系统全面的介绍,包括超高压爬壁除锈机器人和水下船体清洗机器人,突出水下船体清洗机器人的发展优势。将现有的水下船体清洗机器人按磁吸附、真空负压吸附、推力吸附、复合吸附等吸附类型进行分类,具体针对各类吸附移动对其结构功能设计的优缺点进行分析比对。最后,总结吸附性和灵活性难统一、船体复杂壁面难适应和废水废渣难回收等技术难点,针对存在的问题提出推力磁轮复合吸附和水射流清洗技术相结合的创新设计建议,并对多功能化、高智能化、自主性强的多机器人编队协同作业的船体水下清洗发展进行展望。 相似文献
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为提高船体水下清洗设备的自动化程度,使清洗设备能在人控制下自动地前进、后退、左转、右转、清刷头的自动提升和下降,文章设计了采用单片机控制液压马达驱动爬行机构运动及红外对射自动调整叶片高度的叶片清洗装置,使清洗设备既洗掉附在船壳上的海生物,又不刮伤船壳表面的油漆。并对整个电路的调试,采用软件进行模拟仿真运行,来提高设计准确率,并在实验中得到验证。 相似文献
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利用传统技术设计的舰船外表面结构在抗载荷冲击时,易发生动态屈曲现象,强度较低。针对上述问题,利用CAD/CAM技术设计舰船外表面结构。利用CAD绘图软件设计船体整体型线,根据型线走向利用CAM技术合理构建船体龙骨,并在此基础上科学设计外表面结构,增加外表面的抗冲击强度。对比结果表明:利用CAD/CAM技术设计的舰船外表面结构与利用传统技术设计的外表面结构相比,能抵抗住更大载荷的冲击,强度增加了20 kN/m~2,满足了人们对船体强度的要求。 相似文献
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为提升永磁轮的磁吸附效率,以用于为船体表面清洗机器人提供吸附性能的永磁轮为研究对象,提出一种改进的径向充磁磁路.通过静力学分析获得永磁轮所需最小吸附力,分别针对3种磁路形式开展有限元仿真分析,结果表明,与传统的磁路相比,改进的磁路设计能明显地提高永磁轮的吸附力.在此基础上,开展永磁轮主要尺度的敏感性分析,确定该永磁轮模型结构尺寸,磁铁的厚度为20 mm,导磁铁的宽度为6 mm,为船舶清洗机器人总体设计打下基础.研究成果对船舶爬壁清洗机器人、检测机器人、储罐检测机器人和核电站检测机器人等同类机器人的开发具有借鉴意义.. 相似文献
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The main objective of this paper is to develop an efficient numerical method which can predict the underwater acoustic field
and pressure fluctuation on a ship hull due to unsteady propeller sheet cavitation by linear acoustic theory. In addition,
the noise scattered from the ship hull and reflected from the free surface are included. Concerning the computation of the
acoustic field induced by unsteady sheet cavitation and forces of a marine propeller, a method is derived without making any
approximation about the distance function between the noise source and field point. Thus, this method can be used to predict
acoustic pressure at both far and near fields, and this is very important for the scattering problem because the ship hull
is located very close to the propeller. For the computation of the scattering problem, a more efficient and robust method
is derived in time domain, which can treat multi-frequency waves scattered from underwater obstacles. The acoustic fields
of a container ship radiated by the propeller and scattered from the ship hull with free surface is investigated in this paper.
The pressure fluctuations of low blade rate on the ship hull induced by the propeller are also computed by the present method
and are found to be similar to the results obtained by a panel method satisfying the Laplace equation for the points near
the propeller due to the small retarding time. However, for the points on the ship hull away from the propeller, the differences
of the results between two methods will increase. 相似文献
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本文用空泡预报的结果,在桨叶面和尾涡面布置强度已知的源汇和偶极子,计算了空泡螺旋桨诱导的脉动压力.真实的船体表面形状可以通过在船体表面布置偶极子来考虑,求得船体表面的偶极子强度后,通过Bernoulli方程可得到船体表面的脉动压力.为了便于同已有的试验数据进行比较,本文计算了空泡螺旋桨诱导的平板脉动压力. 相似文献
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《船舶与海洋工程学报》2020,(3)
This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning. 相似文献
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对潜艇耐压壳体的低周疲劳问题进行了分析和研究,并应用贝叶斯方法对潜艇耐压壳体疲劳热点的剩余疲劳寿命进行估算,给出了一种在仿真量不足的情况下进行统计推新的新途径,在一定程度上弥补了传统方法的缺陷。 相似文献
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为提高船体曲面生成和修改的便捷性、灵活性,提高船型优化设计效率,并且克服NURBS曲面表征船体曲面的一些不足,提出一种基于T样条技术的船体曲面参数化设计方法.将船体曲面特征参数分为全局、船首、船中和船尾4组,依据这些参数建立T样条控制网格,用单一的T样条曲面即可完成船体曲面和局部特征造型,大大减少了控制点数量.通过特征参数直接驱动船体曲面调整,使船型修改变得直观和简便,且更具有针对性.以典型水面舰船船体曲面表征为例,说明所提方法在船体曲面造型及修改方面的能力和优势,该方法可大大提高船型优化设计效率,具有较大的理论意义和实用价值. 相似文献