Structure Design And Key Technology Research Of Hull Underwater Clear Sea Creature Robot

With the development of the marine transportation industry,the ship will be immersed in sea water for a long time,and a large number of sea creatures such as seaweed and sea lice will be produced on the surface.The hull underwater clear sea creature robot is a kind of wall-climbing robot.Its appearance makes the hull cleaning and maintenance simple,and the marine organism attached to the hull surface can be removed,so that the maneuverability of the hull can be improved and the resource consumption can be reduced.This topic combines the actual surface condition of the hull.The goal is to design a de-sea clear creature robot for the surface of the underwater hull,which can automatically clean the fouling of the surface of a large ship docked at the port.Firstly,this paper analyzes and compares the hull cleaning technology at home and abroad with the existing underwater hull cleaning robot,and comprehensively considers the key technology of hull clear sea creature robot,and proposes the design scheme of the robot,including vacuum adsorption structure and drive.The structure,the floating structure and the cleaning structure complete the three-dimensional design of the virtual prototype.Secondly,based on the motion state of the robot on the hull surface,the static and dynamic analysis of the robot is presented,and the relationship between the required adsorption force and the inclination angle of the hull is obtained,which provides a theoretical basis for the design of the vacuum adsorption system.The force analysis of the driving wheel and the rotating brush provides a theoretical basis for the design of the drive system.The ANSYS Workbench software is used to perform finite element analysis on the chassis frame of the main load bearing component of the robot and optimize it to ensure the rigidity and weight of the chassis.Then,based on the structural characteristics of the vacuum adsorption system and the application of the multi-reference frame(MRF)model,the hydrodynamic performance analysis was carried out using the CFD software FLUENT,and the pressure cloud map and velocity vector diagram of the vacuum adsorption structure were obtained.The model obtained the influence of the structure and rotation speed of the negative pressure system and the magnitude of the adsorption force.Through the above simulation analysis,it can provide a theoretical basis for the later negative pressure adsorption experiment.Finally,the construction of the vacuum adsorption experimental platform was completed,and the relationship between the adsorption force and the rotational speed and the wall distance was obtained.The accuracy of the theoretical analysis was verified by the adsorption force experiment on the rotating brush mechanism.The experimental results show that the vacuum adsorption system meets the design requirements.