作　　者： (刘子浪）; (杨芳）; (庄集超）; (张立群）; (张德立）; (苏婷）;

机构地区： 广东海洋大学,广东湛江524088

出　　处： 《渔业信息与战略》 2017年第3期211-216,共6页

摘　　要： 为解决桨舵式水下机器人螺旋桨结构靠近网箱时破坏网箱结构、伤害养殖生物的问题,本文提出一种双浮筒结构的ROV设计方案。通过研究深海网箱养殖的实际需求,对比多种水下机器人设计方案,对双浮筒结构工作原理进行了可行性分析。该结构通过利用活塞压缩空气改变设备重心、浮心位置以及浮力大小,使设备发生沉浮、横摇、纵倾动作,具有噪声弱、能耗低、适合长时间水下工作的优点。根据深海网箱养殖工作水深要求,对关键结构进行了理论计算和有限元仿真分析。该设备搭载有摄像头,可应用于水下实时监控,同时可通过改变自身浮力搭载吸鱼机、机械手等附加设备进行死鱼及残饵收集、分鱼收鱼、水下设备安装维护等相关作业。 In order to solve the problems of breaking the cage structure and hurting the breeding organisms when the propeller structures of the paddle rudder underwater robot approaching the cages,in this paper,a ROV design scheme with double pontoon structures was presented. By researching the actual demands from deep-sea cage culture,compared with various designs of underwater robots,the feasibility analysis of the double buoy structure was carried out. The structure compressed air by pistons to change the device barycentre,the position and size of buoyancy to make the equipment sinking and floating,rolling and pitching,with advantages of weak noise,low energy consumption,suitable for long time underwater work.According to the requirement of water depth in deep sea cage culture,the key structures were theoretically calculated and then analyzed by the finite element simulation. The device was equipped with a camera which could be applied for real-time underwater monitoring. And by changing its buoyancy,it could carry additional devices like quillback machines and manipulators to collect the dead fishes and residual feeds,do the fish distribution and collection,finish the underwater equipment installation and maintenance,and so on.

关 键 词： 水下机器人 沉浮控制 姿态控制 活塞压缩空气