| After long-term operation in the ocean,ships will face problems such as hull corrosion and microbial adhesion,which will cause material aging,increase navigation resistance and increase cost and energy consumption.At present,there are some problems in the mainstream manual ship cleaning operation,such as the limited scope of work,low efficiency,serious environmental pollution and personnel safety can not be guaranteed.Therefore,the research and development of an underwater cleaning robot plays an important role in promoting the development of shipping,shipbuilding and ship repair industry.This paper completes the design and manufacture of a magnetic suction crawler type underwater cleaning robot.The 3D virtual modeling and assembly of robot parts is completed by using the 3D Modeling Software Solid Works;the hydrodynamic performance of the robot is explored by the computational fluid software FINE/Marine;the mechanical performance of the robot is analyzed based on MATLAB software simulation platform;the actual manufacture and assembly of the robot is completed according to the design scheme,and the function test of the underwater cleaning robot is carried out.The detailed work is as follows:First of all,combined with the working characteristics of magnetic suction track-type underwater cleaning robot,based on modular design thinking,to complete the robot’s component structure design,key equipment selection and processing material selection work,at the same time,relying on finite element analysis software to simulate the actual operating conditions of the strength of key functional modules nuclear analysis.Finally,the robot’s 3D modeling and virtual assembly are completed with Solid Works software.Secondly,the hydrodynamic model of the magnetic suction track-type underwater cleaning robot is established,the hydrodynamic performance of the underwater cleaning robot is carried out according to the slip mesh method,and the convergence of the robot’s hydrodynamic resistance and the influence of different operating conditions on the robot’s resistance performance are verified through numerical analysis of the resistance coefficient,which lays the foundation for the subsequent study of robot mechanics performance.Then,taking into account the robot’s own gravity,wall friction,magnet adsorption force and hydrodynamic resistance,the robot static mechanics and dynamics model is established,and based on the Matlab simulation software platform,self-programming solves the adsorption force required for the robot to resist decline,anti-vertical tipping,and the motor driving moment required for the robot to achieve linear walking and free steering,which provides a scientific reference for the selection of robot components.Finally,according to the overall design scheme of the underwater cleaning robot,the physical production is based on the processing drawings of each module,the whole assembly of the various function components on land and under water is carried out,the whole test platform is set up,and the verification test of the pressure,load,speed,barrier crossing,surface adaptability,clean-up efficiency and positioning performance of the underwater cleaning robot is completed.The test results show that the robot meets the requirements for the use of ship clean-up. |
