The Key Technology Research Of Hull Cleaning Machine

When ships were voyaging in the sea for a long time, lots of algae and shellfish president onthe hull surface which increase the sailing resistance, slow the sailing speed and increase fuelloss. The secretion of algae and shellfish can damage the antirust coating on the hull surface inthe growing process, also like the sea water, which results in there are many rusty spots andscraps on the hull surface. This will accelerate the corrosion of hull and shorten the service life ofthe ship if they are not cleared up in time. So carrying out the key technology research of hullcleaning remote-control machine is very practically significant, which can ensure the safety andefficiency of the voyage, also improve the efficiency and automational level of the underwaterhull cleaning.The overall design scheme is determined which includes the composite adsorption usingpermanent magnets and electromagnets also the complex mobile using caterpillars and wheelsaccording to the underwater environment condition and lots of strictly technical performancerequirements. A quantitative relationship is established between the static stability of hullcleaning remote-control machine and the magnetic adsorption force by the statics analysis instatic state. In the process of statics analysis, the requests for the absorption ability are obtainedthrough independently various analyses of unstable states firstly, and the static stability conditionof hull cleaning remote-control machine is obtained through the comprehensive analysis finally.The factors of influencing the wall absorption ability of hull cleaning remote-controlmachine are discussed and the dynamic equations are established based on the linear motionstate of hull cleaning remote-control machine. The relationship between the compositeadsorption and the motion reliability is also obtained based on the linear motion state of hullcleaning remote-control machine. In the condition of ensuring the safety of adsorption, themoment balance of linear motion is analyzed and power requirements the motors have to meetare determined. The stress state of the caterpillar and the influence composite adsorption force onthe driving moment are analyzed in the movement of hull cleaning remote-control machine.Dynamic equations and kinematic equations are established and the relationship between thecomposite adsorption force and the flexibility of curve motion is obtained finally based on thecurve motion of hull cleaning remote-control machine.