Overall Design And Key Technology Research Of The Hull Surface Cleaning Underwater Robot

Shellfish,barnacles and other Marine organisms will be attached to the hull surface of the ship during navigation,and the existence of objects attached to the hull surface will have a negative impact on navigation.Studies have shown that the attachment of Marine organisms to the hull surface will increase the roughness of the hull surface,increase the navigation resistance of the ship,increase the transportation time and transportation fuel consumption,and cause economic losses.At present,it is the main way for divers to clean the surface of underwater hull with cleaning gun.The diving operation has high labor intensity,high cleaning cost,low efficiency and is greatly affected by the weather.In order to solve the above problems,the wall-climbing robot which can replace manual cleaning has become a hot research direction.When the cleaning and climbing robot works on the hull surface,it must overcome its own gravity and environmental load,and ensure that it can still work stably during the jet operation.Therefore,the surface adhesion capacity is one of the important performance in the design of the wall-climbing robot,and its performance affects the stability,safety and applicability of the robot in cleaning operation.In this paper,for the purpose of underwater hull surface cleaning,based on the application of the wheel cleaning wall-climbing robot,the adhesion performance and hydrodynamic performance of the robot were studied,aiming to lay a foundation for the future design and research of underwater hull surface cleaning wall-climbing robot.This paper summarizes the existing cleaning and climbing robots at home and abroad.Based on three adhesion methods of vacuum adhesion,this paper introduces the thrust adhesion and magnetic adhesion of cleaning climbing robot,This paper introduces the development status and related research results at home and abroad,and discusses the existing problems and future development trend of wall climbing robot.According to the function of the robot and the characteristics of the actual working environment,the overall scheme of the robot was designed,the structure of the robot was designed reasonably and the strength of the key structure was checked.Underwater mobile unit,the main parts of the kit design and selection,and carried out the general layout research and stability analysis.Ensure that the robot has the ability to meet the work,to achieve a good effect of hull surface cleaning operations.The adhesion device of the robot adopts the form of permanent magnet wheel,in order to ensure that each permanent magnet wheel has sufficient adhesion capacity.First of all,the static model of the robot when it is on the water surface and attached to the wall under the water surface is established,and the theoretical minimum adhesion force of each magnetic wheel is obtained by the statics analysis based on the non-sliding and anti-overturning ability of the robot when carrying loads for cleaning,which provides a theoretical basis for the size optimization design of the permanent magnet wheel below.Then,dynamic models of the robot were established when the robot was on the water surface and attached to the wall under the water surface respectively.Dynamic analysis was conducted on the non-sliding and anti-overturning abilities of the robot when carrying loads for cleaning,and the driving torque required by a single motor in the driving wheel when the robot was working normally was obtained to verify the motor selection mentioned above.In order to further optimize the magnetic adhesion efficiency of the permanent magnet wheel,an improved radial magnetized magnetic circuit was proposed to study the permanent magnet wheel,which is used to provide the adhesion performance for robots.In view of the improved magnetic circuit,the sensitivity analysis of the main scale of the magnetic wheel is carried out,and the optimal size of the permanent magnet wheel model is selected,which provides a theoretical basis for the size of the permanent magnet wheel designed.Combined with the theoretical basis of CFD calculation,The numerical calculation model of the robot is established,and the water resistance of the robot in three underwater motion states is analyzed.By analyzing the underwater motion of the robot,the underwater motion of the robot meets the design requirements,and the relationship between the underwater resistance and the resistance coefficient is obtained.