水下机器人新型吸附结构设计及其实验研究  

Design and Experimental Research of a New Adsorption Structure for Underwater Robots

作　　者：张钢 臧红彬[1] 李永龙 李佳龙 王皓冉 Zhang Gang;Zang Hongbin;Li Yonglong;Li Jialong;Wang Haoran(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,China;Sichuan Energy Internet Research Institute,Tsinghua University,Chengdu 610000,China)

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010 [2]清华四川能源互联网研究院,四川成都610000

出　　处：《机械传动》2024年第2期148-157,共10页Journal of Mechanical Transmission

基　　金：四川省科技计划项目(2021YFSY0013,2022YFSY0011,2022YFQ0080)。

摘　　要：水下机器人已广泛用于代替人类开展各种水下巡检与维护作业,吸附结构作为机器人面对各类复杂斜面、立面稳定运动的重要单元,其可靠性至关重要。但现有的吸附结构仍存在吸附力弱、适应性差等缺点。为此,提出了一种基于曲面负压吸附的水下机器人吸附结构。通过理论研究,分析了吸附结构的特性;利用Ansys有限元仿真,对吸附结构进行模拟仿真实验,详细分析了各项关键参数对吸附力的影响。理论计算与仿真结果表明,吸附结构所产生的吸附力高于推进器推力以及平面吸附结构所产生的吸附力;当吸附结构距壁面间隙为8 mm时,平面吸附结构达到最大吸附力136 N,此时,曲面吸附结构可以产生194 N的吸附力,相当于同等情况下推进器4.5倍以上的推力。开展了实物验证与水下机器人应用验证,在垂直壁面上对机器人开展了爬行实验。结果表明,吸附结构进一步提高了吸附力,有助于水下机器人的爬坡吸附运动。Underwater robot has been widely used to carry out a variety of underwater inspection and maintenance operations instead of human beings,in which the adsorption structure is an important unit for the robot to face all kinds of complex slope and elevation,so its reliability is very important.But the existing adsorp⁃tion structure still has some shortcomings such as weak adsorption,poor adaptability and so on.In order to solve these problems,an adsorption structure of underwater robot based on surface negative pressure adsorption is pro⁃posed in this paper.The characteristics of the adsorption structure are analyzed through theoretical research,the adsorption structure is simulated by Ansys finite element simulation,and the effects of key parameters on the adsorption force are analyzed and discussed in detail.The theoretical calculation and simulation results show that the adsorption force produced by the adsorption structure is higher than that produced by the thruster and the plane adsorption structure.When the gap between the adsorption structure and the wall is 8 mm,the maxi⁃mum adsorption force of the plane adsorption structure can reach 136 N,and the curved surface adsorption struc⁃ture can produce the adsorption force of 194 N,which is equivalent to more than 4.5 times the thrust of the thruster under the same condition.The physical verification and the application verification of the underwater ro⁃bot are carried out,and the creeping experiments of the robot are carried out on the vertical wall.The results show that the adsorption structure can further improve the adsorption force and contribute to the climbing and adsorption movement of the underwater robot.

关 键 词：水下机器人 负压吸附 优化分析 模拟仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]