Underwater robot appearance structure optimization method

Abstract

The invention discloses an underwater robot appearance structure optimization method. The method comprises the following steps: appearance design, integrated modeling, buoyancy center position determination, buoyancy difference calculation and total pressure calculation. The appearance structure and the working parts of the underwater robot are specifically designed in a radiation environment according to the cleaning object and the cleaning task of the underwater robot, then the appearance structure and the working parts of the underwater robot are subjected to integrated modeling, and then the performance requirements of the underwater robot during underwater working are obtained through a simulation model. The method comprises: buoyancy center position determination, weight determination and material and specification selection of the appearance structure, so that the designed appearance structure of the underwater robot is high in performance and can meet the actual underwater working requirement, the embedded structural design and arrangement ensure that all the underwater robots can be well assembled and connected, and the stability of the underwater robot is ensured.

Description

technical field [0001] The invention relates to the technical field of robot shape design, in particular to a method for optimizing the shape structure of an underwater robot. Background technique [0002] Nuclear energy, as a clean and economical energy source, has been widely used in military, medical, industrial and other fields. While using and developing nuclear reactors, they will inevitably enter the stage of maintenance, refueling or decommissioning. When dealing with these stages, there are Due to the risk of radioactive contamination, there are currently a large number of experimental research reactors, military reactors, power generation reactors and other reactors in China that need to be repaired, refueled or decommissioned. In the technology of nuclear reactor maintenance, refueling and decommissioning, the key is to clear the pressure vessel. In order to ensure the safety of the external environment and personnel, the traditional cleaning of radioactive pollut...

AI Technical Summary

Problems solved by technology

[0002] Nuclear energy, as a clean and economical energy source, has been widely used in military, medical, industrial and other fields. While using and developing nuclear reactors, they will inevitably enter the stage of maintenance, refueling or decommissioning. When dealing with these stages, there are Due to the risk of radioactive contamination, there are currently a large number of experimental research reactors, military reactors, power generation reactors and other reactors in China that need to be repaired, refueled or decommissioned. In the technology of nuclear reactor maintenance, refueling and decommissioning, the key is to clear the pressure vessel. In order to ensure the safety of the external environment and personnel, the traditional cleaning of radioactive pollutants in pressure vessels is mostly done by manual ultrasonic cleaning, but the efficiency is low, the effect is poor, and the safety is also unavoidable. to guarantee;

[0003] With the development of science and technology, the use of underwater robots to replace workers to clean up radioactive substances is gradually being applied. At present, in the design process of underwater robots, there is no effective way to optimize their shape and structure. Underwater robots After the design is completed, the finished product is insufficient in performance and cannot meet the requirements of actual underwater work. Therefore, the present invention proposes a method for optimizing the shape and structure of an underwater robot to solve the problems existing in the prior art

Images