共查询到18条相似文献,搜索用时 457 毫秒
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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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为解决深远海大型养殖工船养殖舱壁水下智能清洗问题,制定水下清洁机器人本体结构与控制系统方案,分析其机器人力学特性,计算满足稳定行走不倾覆与打滑的最小磁吸力要求,阐述基于机器视觉的清洁度图像识别的具体实现方法。制作水下清洁机器人样机,并在养殖工船中试船上开展机器人清洗验证试验,结果显示,机器人平均清洗效率为413 m2/h,清洗效果良好,满足技术要求。 相似文献
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针对船舶螺旋桨水下清洗问题,设计一种由水下机器人、机械手、空化射流系统集成的水下清洗机器人系统,重点研究了水下机器人推进器驱动及关键部件状态监测.针对水下机器人推进器驱动过程中,模拟电压-脉冲宽度调制信号转换模块与脉冲宽度调制驱动器两者功率不匹配的问题,提出一种模拟驱动器和脉冲宽度调制驱动器结合的混合驱动电路.针对推进器运行状态监测过程中,上位机控制界面显示的推进器电流信号,含有较大随机噪声干扰的问题,提出一种七点平滑小波降噪方法.针对水下机器人密封舱漏水状态监测过程中,漏水检测电路存在误报的问题,设计一种下拉电阻接地电路.通过陆上试验和水池试验对文中设计的推进器驱动电路、推进器电流降噪方法、漏水检测电路以及水下清洗机器人系统的有效性进行了验证. 相似文献
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针对清洗机器人受水流作用的工作稳定性问题,采用大涡模拟方法对雷诺数Re分别为300、3 000、30 000等3种来流条件下的水下机器人流场动力学特性进行数值模拟,分析其时均流场、瞬态涡结构和受力特性。结果表明:紧贴船壳壁面的水下机器人周围流场稳定性很高,壁面效应使机器人尾涡脱落受到抑制;随雷诺数增加,流体边界层厚度减小,阻力系数和侧向力系数逐渐增大;雷诺数为30 000时,阻力系数为0.53,侧向力系数为0.28,侧向力控制是水下机器人后续研究的重点。研究结果能为清洗机器人工作过程的稳定性研究提供理论依据。 相似文献
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船舶水下清洗技术研究 总被引:3,自引:0,他引:3
文章简要阐述了船舶污底型式及等级、水下清洗技术和设备的发展,研究了水下清洗分类、作业程序、清洗标准和记录等指南,探讨了视情水下清洗时机及所采取的措施。 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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The design of underwater hull-cleaning robot 总被引:2,自引:0,他引:2
YUANFu-cai GUOLi-bin MENGQing-xin LIUFu-qiang 《船舶与海洋工程学报》2004,3(1):41-45
The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed; meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control. 相似文献
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船舶的水下爆炸响应是一个重要而复杂的问题,对船舶抗爆能力的提高有着重要的意义.本文使用商业有限元程序ABAQUS对某船体在水下爆炸冲击波作用下的动态响应进行了数值模拟.该问题解决中包括流固耦合问题,边界条件的处理.详细给出了某船舶在水下爆炸的响应结果,揭示了船体的加速度响应、船体的应力响应、船体的速度响应3个方面的响应规律.通过和相关试验数据进行比较,表明数值结果与试验结果两者吻合良好.最后考察并给出了各层甲板在关键肋位上的点的应力和速度响应峰值.所得到船舶在水下爆炸下的响应规律,为船舶设计提供有力的依据. 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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Bubble load in a noncontact underwater explosion can cause the ship hull global response and local response. In current literature, the ship hull is usually simplified as a hull girder to analyze its global response. However, literature dealt with the local response of a 3-D surface ship hull subjected to an underwater bubble were limited. This investigation develops a procedure which couples the finite element method with doubly asymptotic approximation (DAA) method to study the problem of transient responses of a ship hull structure subjected to an underwater explosion bubble. Using a 3-D ship model as examples, the global and local responses of the ship model in vertical, transverse and longitudinal directions are performed in detail. The acceleration, velocity and displacement time histories are presented. The characteristics of both the global and local responses of the ship model are discussed. The numerical results show that besides global whipping response, the ship hull also sustains severe local responses in different directions subjected to underwater explosion bubble jetting, which should be taken into consideration. 相似文献