摘要
文章基于水下清洗机器人清洗效率的设计需求,对水下空化喷嘴进行了仿真优化,详细阐述了空化水射流的生成原理和空泡动力学理论,为空化喷嘴的设计提供了依据。在此基础上,建立了角形空化喷嘴的数学模型,包括多相流混合模型、空化模型和RNG湍流模型,并对模型进行了数值求解设置。通过仿真分析,探讨了喷嘴结构参数(收缩角、圆柱段长度、扩张段长度和扩张角)对空化效果的影响,得出了优化喷嘴结构参数的最佳组合。结果表明,当收缩角为13.5°、圆柱段长度为3d、扩张段长度为4d和扩张角为60°时,喷嘴能有效诱发空化现象,具有最佳的空化效果。验证了数值模型的准确性,并得出结论,为水下清洗机器人的空化喷嘴设计提供了理论指导和参考依据。
Based on the requirement for underwater cleaning robots,the article conducts a simulation optimization study on underwater cavitation nozzles.It elaborates in detail on the generation principle of cavitation water jets and the fundamentals of cav⁃itation bubble dynamics,providing a theoretical basis for the design of cavitation nozzles.On this basis,a mathematical model of the angular cavitation nozzle is established,including a multiphase flow mixture model,a cavitation model,and an RNG turbu⁃lence model,and the numerical solution settings for the model are made.Through simulation analysis,the influence of nozzle struc⁃ture parameters(contraction angle,cylindrical section length,expansion section length,and expansion angle)on the cavitation ef⁃fect is explored,and the optimal combination of nozzle structure parameters is obtained.The results show that when the contraction angle is 13.5°,the cylindrical section length is 3d,the expansion section length is 4d,and the expansion angle is 60°,the nozzle can effectively induce cavitation phenomena and has the best cavitation effect.The accuracy of the numerical model is verified,and conclusions are drawn,providing theoretical guidance and reference basis for the design of cavitation nozzles for underwater cleaning robots.
作者
杨兵
姚立纲
金丰峤
董文强
YANG Bing;YAO Ligang;JIN Fengqiao;DONG Wenqiang(Fuzhou Institute of Oceanography,Fuzhou 350108,China)
出处
《机电技术》
2025年第3期96-105,共10页
Mechanical & Electrical Technology
基金
福州海洋研究院科技项目(2021F11)。
关键词
水下机器人
空化水射流
空化喷嘴
优化设计
Underwater robots
Cavitation water jet
Cavitation nozzle
Optimization design
作者简介
杨兵(1995-),男,博士研究生,主要研究方向为水下机器人控制;通讯作者:姚立纲(1964-),男,教授,博士,主要研究方向为机械传动学、机器人机构学、康复医疗机器人、现代机械设计方法、机械故障智能诊断等。
