养殖工船作业型水下机器人结构设计与研究  

Structural design and research of underwater robot for aquaculture ship operation

作　　者：张佳奇 谢永和 李德堂 高炜鹏 陈卿 王君 王云杰[3] 洪永强 ZHANG Jiaqi;XIE Yonghe;LI Detang;GAO Weipeng;CHEN Qing;WANG Jun;WANG Yunjie;HONG Yongqiang(School of Marine Engineering Equipment,Zhejiang Ocean University,Zhoushan 316022,China;School of Naval Architecture and Maritime,Zhejiang Ocean University,Zhoushan 316022,China;Fishery Machinery and Instruments Research Institute,Chinese Academy of Fishery Sciences,Shanghai 200092,China)

机构地区：[1]浙江海洋大学海洋工程装备学院,浙江舟山316022 [2]浙江海洋大学船舶与海运学院,浙江舟山316022 [3]中国水产科学研究院渔业机械仪器研究所,上海200092

出　　处：《南方水产科学》2024年第1期11-24,共14页South China Fisheries Science

基　　金：浙江省“尖兵”“领雁”研发攻关计划(2022C03023)。

摘　　要：水质检测是深远海集约化养殖的重要环节,水质好坏直接影响着鱼类的生长。目前,水质检测的主要方式是构建水质监测网络系统和人力采集水样检测,这些检测方式存在操作复杂且效率低、作业区域受限、监测周期长等问题。为此,研发设计了一款用于养殖工船水质检测的作业型水下机器人。首先提出水质检测系统和水下机器人系统的总体设计方案。然后利用Solidworks建模软件对水下机器人机械结构进行整体设计,外壳采用流线型结构,其上搭载抽水管口,采用水平2个和垂直4个推进器布局设计,保证水下机器人能够自由运动;基于Ansys软件对机器人的外壳、固定结构和耐压舱等进行应力数值模拟,并结合理论计算对机器人的设计进行完善。最后完成机器人样机软件调试以及性能、自由度和水质检测等水下试验测试。结果表明:水下机器人的密封性、自由度、抽水检测等性能试验均满足工作要求,可以达到对指定位置进行分层和定点水质采样,所获得的水质检测数据可为水产养殖提供数据参考。Water quality detection is important for intensive deep-sea aquaculture,and water quality affects fish growth directly.At present,the main ways of water quality detection is to build a water quality monitoring network system and manpower collection of water samples for detection,which are complicated and inefficient,with limited operation area,long monitoring cycle and other problems.Thus,this paper designed an operational underwater robot for water quality detection on aquaculture ships.Firstly,the overall design of water quality detection system and underwater robot system was proposed.Then the mechanical structure of underwater robot was designed by modelling software Solidworks.The housing adopted a streamlined structural design,and was equipped with pumping hose port.The design of two horizontal and four vertical propellers is to ensure that the underwater robot can move freely.Based on the Ansys software,stress numerical simulation was conducted on the housing,fixed structure as well as pressure chamber of the robot,and theoretical calculations were combined to improve the robot design.The results show that the underwater robot's sealing,degree of freedom,pumping detection and other performance tests meet the working requirements,and can reach the designated location for stratified and fixed-point water quality sampling;the obtained water quality detection data can provide data references for aquaculture.

关 键 词：养殖工船 水下机器人 水质检测 数学建模 机械设计 数值模拟 

分 类 号：S951[农业科学—水产养殖]