Research And Stability Analysis Of Hydraulic Hull Surface Cleaning Robot

With the progress of globalization,competition in transportation industry,national defense construction and marine resource exploitation is becoming more and more intense,which challenges the technology development and demand of shipbuilding industry.In the present era,the shipbuilding industry has developed rapidly and occupies a more and more important position in the national economic construction.For the shipbuilding industry,the cleaning of the surface of the ship is an important link in which shipbuilding and ship repair have to be considered,and also an indispensable auxiliary link.The underwater hull surface cleaning robot is one of the special operating robots,which can operate on the vertical wall.As an automatic equipment for high altitude operation,it has attracted more and more attention.Based on the current development and application situation of existing underwater hull surface cleaning robot,a general scheme which is based on ship facecleaning robot hydraulic double crawler and permanent magnetic adsorption has been put forward in this paper and the design and development of underwater hull surface cleaning robot have been carried on.Based on the analysis of the operation flow of the robot,the overall design scheme of the underwater hull surface cleaning robot is determined.According to the requirement of robot's parameters,the way of mobile,adsorption and the power plan are chosen,the scheme of magnetic adsorption,track movement and hydraulic drive are determined.Combined with the characteristics of tasks and technical parameters,as well as the task of cleaning the hull surface,and difficulties which robot need to overcome,the structure of each module of the robot is designed and optimized,and the functions of each part are introduced.In view of the selected design scheme,the overall structure of the robot is designed,and the various modules of the robot are designed in detail.Aiming at the characteristics of underwater operation tasks and the working environment around the ship,a static and kinematic mechanical model of robot under different working conditions is established,and the stress of the robot is systematically studied and analyzed.On this basis,the adsorption force of the magnetic adsorption unit for the robot's safe and reliable operation is analyzed and calculated,and the safety torque required by the steering motor and the straight moving motor is obtained,which provides important basis for the structural parameter design.By analyzing the working environment and task requirements of the cleaning robot,the design scheme of the hydraulic drive system is determined.The hydraulic principle diagram of the hydraulic drive system is designed,the various parts of the hydraulic principle diagram are introduced,and the operation process of the hydraulic drive system is discussed.Then,the design parameters of the hydraulic pump,hydraulic motor and other components are designed and selected by the parameters obtained in the previous article.Through the establishment of mathematical model of hydraulic system of cleaning robot,and the hydraulic system of robot simulation model by using AMEsim simulation software to establish,the paper simulates operation process of robot,meanwhile,gains simulation curves of flow,torque and speed about the hydraulic drive system of each hydraulic motor in the hydraulic system,verifys the reliability and effectiveness of the hydraulic design.According to the control system requirements of underwater hull surface cleaning robot,the control system is designed.The overall design of control system includes the selection of controller,encoder,high-definition camera,posture sensor and water pressure sensor,and the design of each hardware interface.A control block diagram of PC's software control page and slave computer software is designed,which lays the foundation for further development of underwater hull surface cleaning robot prototype and robot's actual engineering operation.Finally,according to the requirements,design the performance test of the robot was designed,to verify that the performance of the developed ship hull cleaning robot is consistent with the design requirements,and it can run safely,reliably and smoothly,and adjust the speed in a large range.The cleaning capacity can meet the efficiency requirements.The research results in this paper provide a theoretical basis for the development of underwater hull surface cleaning robot prototype and underwater operation,and provide some experience for the research of underwater operation equipment in China.