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海洋钢桩清刷机器人清除粘附藤壶的力学研究 被引量:1

Mechanical research on removing adhesion barnacles with a cleaning robot for marine steel piles
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摘要 为了清除附着在海洋钢桩上的污损生物,本文设计了一款海洋钢桩清刷机器人,携带刮削清理工具,以藤壶为典型清理对象,研究了切削力对附着在海洋钢桩表面污损生物的清理作用。基于正交切削理论和Peel Zone方法,提出了将刮削法及其切削力模型用于清理被污损生物附着的海洋钢桩表面。用有限元方法验证分析模型误差,表明切削力的相对误差小于15%。该模型可用于清刷机器人设计中的切削力估算。分析表明:刀具前角对切削力影响较大,减小刀具前角到45°,较前角为60°时,曲线拟合相对误差增大,清理效果相对不理想,在今后设计海洋钢桩清刷机器人设计中,不建议减小设计清理刀具的前角。 In order to clean the marine fouling attached to marine steel piles,we design a cleaning robot for marine steel piles with scraping tools.Barnacles are used as typical objects to investigate the force in scraping for marine steel pile surface cleaning.On the basis of the orthogonal cutting theory and the Peel Zone method,a scraping method and its cutting force model are proposed for the surface cleaning of marine steel piles.The finite element method is used to verify the analytical model errors.The comparison shows the relative errors of the cutting force are less than 15%.The model can be used for cutting force estimation in the cleaning equipment design.The analysis shows that the blade rake angle has a greater influence on the cutting force.When the blade rake angle is reduced to 45°,in contrast to a blade rake angle of 60°,the relative error of curve fitting increases,and the cleaning effect is relatively unsatisfactory.As a result,in the future design of the marine steel pile cleaning robot,it is not recommended to reduce the rake angle of the cleaning tools.
作者 王立权 李超 陈凯云 王刚 庞乂铭 WANG Liquan;LI Chao;CHEN Kaiyun;WANG Gang;PANG Yiming(College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;College of Mechanical Engineering, Heilongjiang University of Science and Technology, Harbin 150001, China;College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China)
出处 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2021年第2期259-265,共7页 Journal of Harbin Engineering University
基金 国家重点研发项目(2018YFF01012900) 国家自然科学基金项目(51779059,52001089) 中国博士后科学基金项目(2018M630343) 黑龙江省自然科学基金(E2018021) 黑龙江省技术协会博士科学基金项目(2015QJ04) 中央高校基本科研业务费(3072020CF0702,3072020CFT0704,3072020CFT0105) 烟台市校地融合发展项目(2019XDRHXMPT29).
关键词 海洋钢桩 清刷机器人 藤壶模型 粘附力 正交切削 受力分析 切削力 仿真模拟 marine steel pile cleaning robot barnacle model adhesion orthogonal scraping mechanical analysis cutting force simulation
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