基于负压吸附的船体清刷机器人研究

为了减少因船体附着污损物对船舶航行造成的阻力,提高船舶运输业的效益,研究设计了水下船体清刷机器人。介绍了水下船体清刷机器人的移动方式、吸附方式和驱动方式,设计了一种以轮式行走、液压驱动、负压吸附方式的船体机器人本体结构方案,并对船体清刷机器人进行了静力学分析,建立了其在船体表面运动的运动学模型,分析了机器人能够稳定安全地吸附在船体表面所需要的吸附力、驱动力矩以及运动过程中的回转半径。

Research on Hull Cleaning Robot Based on Negative Pressure Adsorption

In order to reduce the drag caused by the hull attached to the ship and to increase the benefits of the ship transportation industry, an underwater hull cleaning robot is designed. The movement mode, adsorption method and driving method of the underwater hull brushing robot were introduced, a hull robot body structure scheme with wheeled walking, hydraulic drive and negative pressure adsorption was designed, and the statics analysis of the hull cleaning robot was carried out. The kinematics model of the hull surface movement was established. The adsorption force, the driving torque and the radius of gyration required for the robot to be able to stably and safely adsorb on the hull surface are analyzed.