Study On Biological Attachment Rule And Brushing Robot On Ship's Surface

With the process of globalization,competition among countries for the exploitation of marine resources has become increasingly fierce,challenging the technological development and demand of the shipbuilding industry.In the modern era,the rapid development of the shipbuilding industry has also played an increasingly important role in the national economic construction.For the development of the ship industry,the cleaning of the surface of the ship is one of the indispensable auxiliary links.The hydraulic hull surface cleaning robot is a kind of special operation robot and can operate on a vertical wall mobile robot.As an automated equipment for high-altitude operations,it has received more and more attention.Based on summarizing the status quo of robot development in this field,the paper designs the overall structure of the hydraulic hull surface cleaning robot.The paper analyzes the growth and adhesion of marine organisms,comprehensively studies the types of attachments at different locations on the hull surface,and the growth of attachments under different environmental factors.On this basis,the influence of the hull surface attachments on the force of the ship was calculated.In the numerous attachments on the hull surface,barnacles and shellfish occupies the majority,which is related to the morphological characteristics of barnacles and shellfish and their Related to life habits.Because these two organisms are very capable of adapting to changes in the external environment,so long as there is a hard surface,they can adhere to the surface of the hull,which results in an increase in the surface area of the ship.Increase the frictional resistance during the journey of the ship,which will reduce the speed of the ship and also increase the fuel consumption.Hydraulic hull surface cleaning robot(abbreviated as brushing robot)is a type of wall climbing robot.The main feature of the robot is that it can move on the hull surface and perform brushing operations.Robots have a high degree of automation and their ability to adapt to the environment is also strong.This paper summarizes the development status of brushing robots both at home and abroad,and proposes a hydraulic-based hull surface brushing robot.The brushing robot can adsorb on the hull surface to move flexibly and carry tools for brushing operations.The paper identified the overall design of the brushing robot.According to the parameters of the brushing robot itself,the movement,adsorption method and power scheme of the brushing robot are selected,and the magnetic adsorption method,the track moving method,and the hydraulic driving power scheme are determined.Integrate the working environment of the robot and design and optimize the various mechanisms of the robot.For the working posture of the robot in different situations,the mechanical model of the robot is established,and the mechanics and hydrodynamics are analyzed.The research results of this paper will provide a theoretical basis for the practical application of brush cleaning robots,and at the same time provide lessons for the research and development of underwater operation equipment.