摘要：随着我国海洋强国战略的实施，水下湿法切割在海洋作业中的比重越来越高，在水下湿法切割发展的同时水下自动化切割技术也在全面提升。水下切割小车的发展是水下自动化切割技术中很重要的一部分，但是现在能满足水下切割任务的小车比较少，所以研制新的水下切割小车就显得尤为重要。目前已有的水下切割小车已经实现200m水深下的平面切割。为了使水下切割小车可以更高效的完成切割任务，就需要对现在的水下切割小车进行改进。

本文对国内外切割小车的研究现状进行了综述。根据切割小车工作环境的需要，提出设计指标，经过对比和分析选择了双履带行走。永磁铁吸附的总体结构。

进行了小车的本体结构设计，包括了切割装置的设计、行走装置的设计、吸附方式的选用和驱动装置的设计。模拟进行了200m水深环境下的水下切割试验，并且在200m水深下顺利完成了切割任务。完成了切割装置的设计，将小车的轮式行走装置换成了履带式行走装置，在履带上装上永磁铁，并通过计算求得履带在接地面积内的永磁铁的数量。对小车的扭矩、转速和功率等做出了计算从而确定了小车电机的型号和尺寸。在各零件设计完成之后，用Solidworks装配体设计功能将各零件组装成一个整体。

关键词：水下切割；结构设计；爬壁；履带

Abstract：With the implementation of China's marine power strategy, underwater wet cutting in the proportion of ocean operations is getting higher and higher, underwater wet cutting development at the same time underwater automated cutting technology is also a comprehensive upgrade. The development of underwater cutting trolley is a very important part of underwater automated cutting technology, but now can meet the underwater cutting task vehicle is relatively small, so the development of new underwater cutting vehicle is particularly important. At present, underwater cutting vehicle has been achieved under the water depth of 200m plane cutting. In order to make the underwater cutting vehicle can be wall and turn, you need to improve the current underwater cutting vehicle.

This paper summarizes the research status of cutting trolleys at home and abroad. According to the needs of cutting the working environment of the trolley, the design index is put forward. After comparison and analysis, the overall structure of double track walking and permanent magnet adsorption is selected.

The design of the body, including the design of the cutting device, the design of the walking device, the selection of the adsorption method and the design of the driving device are vehicleried out. The underwater cutting test was vehicleried out in a 200 m depth environment, and the cutting task was successfully completed at a depth of 200 m. The design of the cutting device was completed by replacing the wheeled walking device of the trolley with the crawler belt, the permanent magnet was mounted on the track and the number of permanent magnets in the ground area was calculated by calculating the track. The vehicle's torque, speed and power to calculate the vehicle to determine the model and size. After the parts are designed, use the Solidworks assembly design function to assemble the parts into a whole.

Keywords:Underwater cutting;Structure design;Crawling;Track

目录

第一章绪论 1

1.1本课题研究的背景及意义 1

1.2水下熔化极电弧切割发展现状 1

1.3水下切割小车的国内外研究现状 2

1.4本文主要研究内容 6

第二章水下切割小车设计方案的确定 7

2.1引言 7

2.2水下切割小车的指标要求 7

2.3水下切割小车在设计上所需解决的问题 8

2.4开发环境solidworks简介 9

2.5水下切割小车的框架选择 9

2.5.1框架材料的选择 9

2.5.2水下切割小车的连接方式 10