船舶检验水下机器人结构设计与仿真  

Structural Design and Simulation of Underwater Vehicle for Ship Inspection

作　　者：崔秀芳[1] 林浩涛 曲晓文 安楠楠 CUI Xiufang;LIN Haotao;QU Xiaowen;AN Nannan(Engineering College,Shanghai Ocean University,Shanghai 201306,China)

机构地区：[1]上海海洋大学工程学院,上海201306

出　　处：《船舶工程》2024年第6期153-156,共4页Ship Engineering

基　　金：农业部渔船检验局课题(D-8005-17-0116)。

摘　　要：针对传统人工检验船舶水下部分工作中,存在的低效率和安全隐患等问题,结合船舶检验应用场景和水下机器人技术,研究设计一种船舶检验水下机器人,用其代替工作人员进行船舶水下检测。对该船舶检验水下机器人采用框架式结构设计,极大地提升其抗水流能力;设计导管螺旋桨作为推进结构,提高其水下作业的灵敏度。对该机器人结构进行流体仿真,仿真结果显示其在水下运行时所受阻力较小,灵敏度较高。试验结果表明:该机器人能在船舶航行之前对船舶水下部分进行外观检测,不仅能降低船舶检验的难度,而且能提高船舶检验效率。In view of the low efficiency of traditional manual ship inspection and the problems of large personal safety risks,combining the application scenario of ship inspection and underwater vehicle technology to study and design a ship inspection underwater vehicle to replace people to carry out underwater inspection of ships.First of all,the ship inspection underwater vehicle adopts the frame structure design,which greatly improves the anti-current ability of the machine.Secondly,the ducted propeller is designed as the propulsion structure to improve the sensitivity of underwater operation.Finally,the relationship diagram between velocity and resistance obtained by the fluid simulation of the structure shows that the vehicle has less resistance and higher sensitivity in underwater operation.The experimental results show that the vehicle can detect the underwater part of the ship before sailing,which can not only reduce the difficulty of ship inspection,but also improve the efficiency of ship inspection.

关 键 词：水下机器人 船舶检验 结构设计 水动力分析 

分 类 号：U672.5[交通运输工程—船舶及航道工程]