Research On The Structure And Simulation Of The Underwater Flexible Robot For Ship Maintenance

With the development of the shipbuilding industry in the world,underwater robot toward the ship sailing in the process of form a complete set of testing equipment development,is one of the important means of rapid detection of hull,plays a decisive role.Autonomous underwater robot autonomous underwater vehicle(AUV)application prospect is very wide,shallow water level observation research of AUV for shallow waters detection and exploration is of great significance in our country.Aimed at the present situation of ship maintenance testing needs,combined with domestic and foreign design method of AUV,this paper developed a kind of flexible structure underwater robot.The robot can realize quick turn a small scale,flexible motion,fatigue resistance performance is good,and other functions,to provide powerful guarantee for ship maintenance fast detection,effectively prevent the failure of further deterioration of the hull.After studying the current development of AUV with the flexible robot at home and abroad,form of structure design and the overall design under the premise of according to this thesis design of AUV working environment and operation objective structure of virtual prototype is designed.In this thesis it's mainly to design the flexible body,tank shell scheme of AUV,sealing structure and propulsion module;Emphasis is put forward to turn-using the steering gear control of flexible body and propeller differential promote quick turn;From sealing ring type,material to choose,in the main sealing parts design L triple seal structure,the internal structure of linear surface waves,increase the contact area of sealing ring,increased the friction resistance,reduce the deformation of sealing ring in order to achieve better sealing effect.Using four main propulsion and balance the propeller as the driving part of the AUV,it can achieve rapid advance,meet the balance of the AUV.AUV kinematics model is established to determine the space motion of AUV in the relations of coordinate system and movement,from the space of the AUV 6 degree of freedom motion equation is simplified level,is the vertical plane and vertical plane motion expression.Combined with gravity and buoyancy force,hydrodynamic and environmental interference,dynamic model of the AUV motion is deduced.The AUV designed to make use of Ansys software simulation,the hydrodynamic calculation of the AUV pressure under different velocity.When the environment changes from land to underwater operation,the seal structure will inevitably generate stress and fatigue under water pressure,which will affect the life of AUV.In the analysis of the relationship between hardness and fatigue,creep,put forward by means of sealing structure reinforcement of grinding material of aluminum alloy,improve its hardness to reduce fatigue,extend the life of the AUV.Select suitable processing technology parameters,the sample for the different reinforcement of grinding time to experiment,and according to different processing time of specimen,hardness testing,analyzing the test results,select the most beneficial to small underwater robot seal structure surface hardness and internal stress of processing time.