水下管道外壁清洗机器人设计及流体力学仿真  

Design and fluid dynamics simulation of underwater pipeline outer wall cleaning robot

作　　者：王宇 WANG Yu(College of Light Industry,Harbin University of Commerce,Harbin 150028,China)

机构地区：[1]哈尔滨商业大学轻工学院,哈尔滨150028

出　　处：《哈尔滨商业大学学报（自然科学版）》2024年第3期315-322,共8页Journal of Harbin University of Commerce：Natural Sciences Edition

摘　　要：针对水下管道外壁附着生物容易造成管道腐蚀的问题,设计出一款水下管道外壁清洗机器人.主要由夹持机构、清洗机构、攀爬机构、腰部回转机构四部分组成.机器人可以沿管道行走,并在管道分支处可进行换向,在行走的同时可以对管道进行清洗.针对机器人进行整体结构方案设计,并对机器人沿管道的攀爬步态进行分析以及夹持机构主要参数进行计算.应用SolidWorks进行建模,通过Flow Simulation模块对机器人在水下运动时,机器人周围水域水流状态以及机器人自身所受应力情况进行仿真,通过仿真分析了机器人在水下运动时所受的阻力特性.结果表明,该水下管道外壁清洗机器人的可行性及合理性,通过对夹持机构的调节,可以实现对不同直径的管道进行清洗,满足水下作业要求.For aiming at the problem that organisms attached to the outer wall of underwater pipelines were easy to cause pipeline corrosion,a cleaning robot for the outer wall of underwater pipelines was designed.It was mainly composed of four parts:clamping mechanism,washing mechanism,climbing mechanism and waist slewing mechanism.This allowed the robot to walk along the pipe and reverse at the pipe branch,and clean the pipe while walking.The overall structure scheme of the robot was designed,and the climbing gait of the robot along the pipeline was analyzed and the main parameters of the clamping mechanism were calculated.SolidWorks was used to model,and the flow simulation module simulated the current state of the water around the robot and the stress situation of the robot itself when it moved under water,and analyzed the resistance characteristics of the robot during underwater movement through simulation.The results showed the feasibility and rationality of the outer wall cleaning robot of the underwater pipeline,and the cleaning of pipelines of different diameters could be realized through the adjustment of the clamping mechanism to meet the requirements of underwater operations.

关 键 词：水下清淤 管道外壁 爬行机器人 机械结构设计 步态分析 流体仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]