[1]王立权,李超,陈凯云,等.海洋钢桩清刷机器人清除粘附藤壶的力学研究[J].哈尔滨工程大学学报,2021,42(2):259-265.[doi:10.11990/jheu.202001008]
 WANG Liquan,LI Chao,CHEN Kaiyun,et al.Mechanical research on removing adhesion barnacles with a cleaning robot for marine steel piles[J].Journal of Harbin Engineering University,2021,42(2):259-265.[doi:10.11990/jheu.202001008]
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海洋钢桩清刷机器人清除粘附藤壶的力学研究(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
42
期数:
2021年2期
页码:
259-265
栏目:
出版日期:
2021-02-05

文章信息/Info

Title:
Mechanical research on removing adhesion barnacles with a cleaning robot for marine steel piles
作者:
王立权1 李超1 陈凯云2 王刚3 庞乂铭1
1. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001;
2. 黑龙江科技大学 机械工程学院, 黑龙江 哈尔滨 150001;
3. 哈尔滨工程大学 船舶工程学院, 黑龙江 哈尔滨 150001
Author(s):
WANG Liquan1 LI Chao1 CHEN Kaiyun2 WANG Gang3 PANG Yiming1
1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2. College of Mechanical Engineering, Heilongjiang University of Science and Technology, Harbin 150001, China;
3. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
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
分类号:
TH123+.4
DOI:
10.11990/jheu.202001008
文献标志码:
A
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。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2020-01-04。
基金项目: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).
作者简介:王立权,男,教授,博士生导师;李超,男,博士研究生.
通讯作者:李超,E-mail:54529880@qq.com.
更新日期/Last Update: 2021-02-27