农业装备与车辆工程2025，Vol.63Issue(6)：109-113,5.DOI:10.3969/j.issn.1673-3142.2025.06.020
海底管道检测机器人结构设计与性能分析
Structural design and performance analysis of a submarine pipeline inspection underwater vehicle
摘要
Abstract
In response to the demand for submarine pipeline inspection,a submarine pipeline inspection robot was designed.The underwater robot's framework adopted a combined structure of a 304 stainless steel framework and Trellsy HG buoyancy material.Combined with the design of a pressure-resistant cabin with a hemispherical front end and a cylindrical cabin body,the pressure resistance and stability in an underwater environment of 300 m depth were ensured.The T200 thruster was selected for the propulsion system,and through resistance calculation,it was verified that it met the requirements for six-degree-of-freedom movement.The strength of the framework and the pressure-resistant cabin was analyzed by the finite element method,and it was found that it met the requirements of the 300 m water depth environment.Steady-state calculation showed that the metacentric height and the transverse and longitudinal inclination angles of the robot all conformed to the stability requirements.This design provides a reference for pipeline inspection in complex submarine environments.关键词
水下机器人/管道检测/结构设计Key words
underwater vehicle/pipeline inspection/structural design分类
信息技术与安全科学引用本文复制引用
梅洋,何洋洋,梁萍萍..海底管道检测机器人结构设计与性能分析[J].农业装备与车辆工程,2025,63(6):109-113,5.基金项目
2024年商丘工学院校级科研项目"工业机器人多目标运动规划关键技术研究"(2024KYXM10) （2024KYXM10）
