Research On Structure Design And Key Technology Of Ship Cleaning Robot

In recent years,due to the long-term maritime navigation of ships,the failure to clean up a large amount of marine fouling on the surface of the hull in time has led to a decrease in speed and an increase in fuel consumption.This is considered to be one of the important reasons for the high cost of maritime transportation.Traditional manual cleaning is time-consuming and laborious.In order to liberate humans from the heavy cleaning work,In this paper,a robot based on cavitation water jet cleaning is designed,which can replace manual cleaning of ships and improve the cleaning efficiency.According to the conditions of the wall surface of the cleaning target ship and the underwater working conditions,this paper formulates the technical indicators of the cleaning robot.Through the selection of the robot’s adsorption method,movement mode,and power source,the overall plan design of the cleaning robot is determined,and its adsorption foot mechanism is completed.,Transmission mechanism and overall structure design;based on the analysis and calculation of the static force on the wall of the cleaning robot,The minimum adsorption force required for the robot to not fail at any angle on the hull wall is obtained;the magnetic adsorption module is designed based on the calculated adsorption force,and the COMSOL software is used to simulate and analyze its unpowered adsorption state and energized "demagnetization" state.The multi-island genetic optimization algorithm was used to obtain the global optimal structural size parameters of the magnetic adsorption module that satisfies the optimization conditions,and the adsorption force and temperature experimental tests were carried out for the magnetic adsorption module in its unpowered adsorption state and energized "demagnetization" state;for the robot Conduct research and analysis of kinematics and dynamics performance,The ADAMS software was used to complete the robot kinematics and dynamics simulation analysis,and the displacement,speed,acceleration and torque curves of each joint during the movement of the robot were obtained;finally,the statics and modal analysis of the robot model were carried out,and the robot deformation cloud chart,Equivalent stress cloud chart and mode shape cloud chart.