超小型模块化ROV密封舱的结构设计及力学仿真

Structural Design and Mechanical Simulation of Ultra-small Modular ROV Sealed Cabin

针对浅海资源探查与水下环境检测的需求,设计一种功能可扩展的模块化超小型ROV (有缆遥控水下机器人)。该水下机器人具有模块化、体积小、质量轻、运动特性良好等特点,主要应用于淡水或浅海的水下探测及水下养殖。重点介绍ROV的密封舱体设计及仿真。利用三维设计软件Solid Works建立水下机器人本体的模型,并利用Solid Works Simulation模块,对密封舱中间筒体部分在水下100 m进行强度校核,结果表明壁厚符合安全要求;在水下50、100、200和400 m对壁厚6 mm的亚克力半球罩的强度进行仿真分析,在水下400 m处,亚克力罩的最大变形为0. 46 mm,最大应力为29. 2MPa,满足安全要求。

Aiming at the requirements of shallow sea resource exploration and underwater environmental testing, a function-scalable modular ultra-small ROV（Remote Operated Vehicle） was designed.The underwater robot had characters of modularity, small volume, light weight and good motion performance, mainly used in freshwater or shallow sea underwater detection and farming.The design and simulation of the sealed cabin of the ROV were focused on.The model of underwater robot body was established by using SolidWorks software. The strength of the inner cylinder part of the sealed cabin was checked under 100 m underwater through SolidWorks Simulation module. The results show that the wall thickness meets the safety requirements. The strength simulation checking of acrylic hemisphere cover with 6 mm wall thickness at the different depths of 50, 100, 200 and 400 m were carried out respectively. The results demonstrate that the maximum deformation of the acrylic hemisphere cover can reach 0.46 mm and the maximum stress is 29.2 MPa with the depth is 400 meters, satisfying the safety requirements.