The Design And Research On The Cleaning Performance Of Cleaning Robot For Fishery Aquaculture Cabin

In order to reduce the pollution level of our inland rivers and inshore waters in the process of aquaculture,in recent years,the aquaculture engineering vessel of fishery breeding has developed rapidly.However,the fishery aquaculture cabins used for long time attached a large amount of bait and the excreta of fish which leaded to water pollution and the disease of fish.The traditional manual cleaning has many disadvantages,such as the low cleaning efficiency,the high cleaning cost,and the safety of divers can not be well guaranteed.In order to decrease the number of dead fish of the aquaculture engineering vessel,improve the quality of aquatic products,and reduce the investment cost of operators,it is necessary to design an underwater cleaning robot for the fishery aquaculture cabin.The main contents of this research are as follows:1.According to analysis on the research status of underwater cleaning robots of domestic and overseas,and comprehensively compare the advantages and disadvantages of different types of robot,in order to determine the overall scheme of robot for fishery aquaculture cabin.Through the analysis on the key component of robot to determine the selection of robot components and the layout of component.The intensity of robot’s main components is checked to verify the reliability of robot’s structure.2.Through the hydrodynamic analysis,the change of propelle’s thrust to the speed of robot is obtained.Analysis on the cloud map of pressure and the speed of flow field in different motion states,finding out the robot structure needs to be optimized,the flow field influences the robot’s movement posture.Through the mechanical analysis when the robot adhered on the wall,obtaining the conditions which the robot doesn’t instability on the wall and the influence of driving component’s output torque to the movement speed.3.Research on two indicators that the cleaning rate of brush and the consumption of cleaning energy of the robot’s cleaning performance,obtaining the number of bristles,the moving speed of robot and the motor speed effects on the cleaning rate.Through the experiment test platform of brush to test the power of the experimental brush at different speeds,studying on the influence of different specification’s layout scheme of brush to the robot’s cleaning energy consumption,confirming the matching of robot’s moving speed with the motor speed ultimately.4.Based on the experimental test frame of brush,testing the resistance torque of different brush,the rationality of the analysis on the brush’s resistance torque is verified.When the robot is stationary on the wall,through the experiment on the robot,the theoretical analysis is supported by the experimental result.Comparing with the cleaned area and uncleaned area,the cleaning effect of robot is better.After many experiment,the robot has better stability and dynamic property and the strong capacity of cleaning when the robot adhered on the wall,it can complete the cleaning work of fishery aquaculture cabin.This research is great significance for ensuring the quantity and improving quality of aquatic products for our country.