| The underwater shipwreck pollutant recycling technology can reduce the risk of secondary marine environmental pollution accidents caused by accident wrecks.The world’s maritime powers are rushing ahead of China,and have developed the integrated drilling device and pollutant recovery integrated device,and continue to develop.An underwater wreck pollutant recycling robot adapted to deep water environment.At present,China still needs such underwater wreck pollutant recycling robots that meet the requirements of large deep water operations.Based on the drilling operation device and the integrated pollutant recycling device,the key technologies for underwater wreck pollutant recycling robots are The research was carried out and a simulation experiment was carried out.In this paper,combined with the characteristics of domestic and foreign underwater shipwreck pollutant recovery equipment in the operation of pollutants in the pollutant compartment and the characteristics of pollutants recovery and the characteristics of domestic and foreign walking robots,the process and technology of pollutant recycling in the underwater shipwreck pollutant recycling robot are determined.The overall scheme of the pollutant recycling robot is designed,and the scheme is an integrated device for carrying out pollutant recycling and opening of the hydraulic walking robot.On this basis,the structure of the pollutant recovery and opening integrated device,the screw drive and its hydraulic system were designed.In order to reduce the energy consumption of the pollutant recovery device,the cutting power and the cutting force of the drilling tool are reduced.In this paper,Johnson-Cook constitutive equation is used to simulate the material properties of the pollutant compartment shell.Based on this,the parameters of the drill blade are simulated by the Advantedge simulation software to simulate the opening operation of the pollutant compartment.Finally,the drill blade of the pollutant recovery device is selected.The cutting edge has a blunt radius.After determining the parameters of the bit blade of the pollutant recovery device,through the simulation analysis of the maximum feed rate and cutting speed of the double-blade threedimensional model on the bit of the pollutant recovery device,the drill bit of the pollutant recovery device during the opening operation of the cabin shell is obtained.The maximum cutting power and cutting torque verify the rationality of the design of the pollutant recovery and perforated integrated device.According to the working principle of the hydraulic walking robot for underwater shipwreck pollutant recovery,the kinematic model is established by using the D-H transformation matrix in robotics.According to the kinematics model,the forward and inverse kinematic relations of the pollutant recovery robot are derived.On this basis,the fastest threelegged gait in the underwater walking movement of the pollutant recycling robot is completed,and the joint length ratio is compared with its walking speed,obstacle resistance,joint movement characteristics,foot working space and dexterity.The analysis determined the joint length of the pollutant recovery robot.Finally,the mathematical relationship between the hinge point position of each joint hydraulic cylinder of the pollutant recycling robot and the joint length and angle is established,and the expansion and contraction amount of the piston rod of each joint hydraulic cylinder of the underwater pollutant recycling robot is derived.The trajectory curve verifies the correctness of the hydraulic cylinder displacement calculation of each joint of the underwater pollutant recovery robot.In this paper,the hydrodynamics of underwater pollutant recovery robot is also studied.The equilibrium equation of underwater pollutant recovery robot and the dynamic equation of hydraulic walking leg joint of underwater pollutant recovery robot are established.The three-step gait phase sequence during exercise calculates the moment of each joint of the hydraulic walking leg.According to the working principle of the hydraulic walking robot for underwater sinking ship pollutant recovery,the kinematics model is established by using the D-H transformation matrix in robotics.According to the kinematics model,the forward and inverse kinematics relationship of the pollutant recovery robot is deduced.On this basis,with the fastest threelegged gait in the underwater traveling of the pollutant recovery robot,the analysis of the ratio of joint length to its walking speed,obstacle surmounting ability,joint motion characteristics,foot workspace and dexterity is completed.the joint length of the pollutant recovery robot is determined.Finally,the mathematical relationship between the hinge position of each joint hydraulic cylinder and the joint length and angle of the pollutant recovery robot is established,and the expansion of the piston rod of each joint hydraulic cylinder of the underwater pollutant recovery robot is deduced.The correctness of the displacement calculation of each joint hydraulic cylinder of the underwater pollutant recovery robot is verified by the trajectory curve of the foot of the pollutant recovery robot.In this paper,structural design,finite element simulation,theoretical derivation,kinematics and dynamics simulation and calculation verification of underwater shipwreck pollutant recovery robot are carried out.A three-dimensional model of underwater shipwreck pollutant recovery robot was established,which provided a reference for the development of underwater shipwreck pollutant recycling robot. |
PDF Full Text Request