Research On Compound Absorption Method Of Underwater Ship Hull Cleaning Robot

As a special type of working robot,wall-climbing robot has been used in many areas,such as nuclear industry,petrifaction enterprise,building industry,fire fighting and ship building etc.It has been provoking high attention world widely ever since it was born in 1960's.The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot,It has wide application value.The paper systematically overviews the developing situation of ship underwater cleaning technology and the wall-climbing robot,and summarizes the state-of-the-art of underwater cleaning work and wall-climbing robot,According to the particular condition of underwater robot work,and puts forward the compound absorption method which composed of permanent magnetic crawler and thruster,the overall structure of underwater ship hull cleaning robot was accomplished,the paper studies the related key technology,including compound adsorption,movement performance,cleaning efficiency etc.The analysis of compound adsorption is the key,In this paper,the stability plane of underwater ship hull cleaning robot is established,so that the stability problem of cleaning robot can be transformed into the instabilities of the stability plane.The stability conditions of cleaning robot is discussed.The relation between absorption of magnetic disk and thrust of the thruster is given.The paper establishes equations of linear motion of cleaning robot,It has made an analysis of the stability of linear motion.according to anasys of cleaning robot linear motion,research driven balance conditions of linear motion. It is analyzed that the relationship between linear motion performance and of the power compound absorption.No slip model of kinematics and dynamics is established,the relationship between flexibility and compound absorption capacity.Finally,the papers is established the evaluation system of cleaning efficiency on the basis of the cleaning robot's cleaning mechanism.Established Wall access point equations of motion,Then analysed the relationship of cleaning robot running speed,brush speed and cleaning efficiency.The establishment of brush model,analysed the dynamic brush force,researth the relationship between stability of cleaning robot and cleaning efficiency.In conclusions cleaning robot,the successful development of the underwater ship hull cleaning robot opens up a new domain for the application of the wall-climbing robot.