Research On Underwater Bionic Move-in-mud Robot And Key Technology

With the development of shipping day by day, ship sinking accidents happen repeatedly, which are mainly caused by the collision and hitting reef of ship. Those ships-sunken are qualified "under-water reefs" and the terrible threats of navigation ships, and also reduce the navigation efficiency remarkably. Therefore, it has important practical meaning to improve the efficiency of salvage as fast as possible to remove the ships-sunken in channels.Traditional salvage technology is a labor-intensive work mainly based on the physical stamina and individual experience of diver. The operation of punching a rope-hole and pulling a cable across ship-sunken bottom is a key process in the salvage work. Generally diver operates the process artificially with manual attacking-mud machine. Because under-water silt environment is abominable, the operating is difficult and lacks efficiency and security, so that the navigation is affected and the salvage cost is raised. Therefore salvage industry urgently requires a kind of underwater equipment with roboticized functions that is used to substitute diver finishing the operation. This kind of roboticized equipment is called as move-in-mud robot, which is a new type of special underwater robot and a new member in remotely operated vehicle family, and belongs to utmost operation robot.How to finish the operation automatically, in fact, is now a difficult problem in all over the world. There is, up to the present, no overseas research report about the move-in-mud robot that is for the operation and works in underwater silt environment. In recent years, a few scientific research branches and universities in China take the lead in proposing a few of robot prototypes.This paper lucubrates and designs the robot and its key technology in a creative way based on comprehensively summarizing the recent research fruits of the robot.(1)In allusion to the lack of enough engineering feasibility of the robot prototypes, the paper proposes a new type of underwater bionic move-in-mud robot prototype, which engineering feasibility is demonstrated in theory and experiment.(2)The papre decompounds the complex motion of the robot into two types ofbasic motions, that is self-discipline bionic worming and pose adjustment. Thus the arithmetics of the pose and orientation of the robot are unified, which provides advantage for mix control mode and simple kinematics analyse.(3)The paper takes the feeding of the tail cable-assembled as a "almost-absolute" orientation parameter and establishes two orientation detection subsystems and their arithmetics. And the detection data from the subsystems are fused with the help of Kalman filter, which may ulteriorly improve the precision and reliability of orientation system of the robot.(4)The paper designs a new type of hydraulic puncher by the means of masterly integration of shocking piston, following valve and commutator. And the paper designs the whole robot operation system and its main assistant equipments.Designing underwater robot is a complex engineering with high technology density and belongs to high-technology field. The research level of the robot incarnates synthesis technology power of nation. Move-in-mud robot, as a new type of special underwater robot, is just new studies. Therefore there are still many problems worthy of being explored and studied further.