Underwater Climbing Robot Design And Study Of Sport Capability

Remote operated vehicle are widely used in patrolling river levees,the installation of large deep-sea equipment in the early stage of commissioning,resource exploration in shallow seas,and replacement of deep-sea damaged oil pipelines.Most underwater equipment is large-scale equipment.When the service life reaches the design period,it requires regular and simple maintenance.The underwater wall-climbing robot in this project was developed to meet this kind of demand.This topic has designed a small-scale underwater climbing robot with floating mode and climbing wall mode.The underwater climbing robot design direction is miniaturization and portable.Because underwater wall-climbing robot is a kind of light weight and small volume remote operated vehicle which is more suitable for underwater environments where the flow water velocity is low.Since shallow water is more susceptible to fluctuations in the water surface,the operating depth of underwater wall-climbing robots is required.In order to facilitate the assembly of the underwater wall climbing robot,the underwater climbing robot uses the modular design of the propeller,control module and other components.The ability to climb the wall of the underwater wall-climbing robot and the ability to overcome obstacles were analyzed.The underwater climbing robots was checked out according to the tests and the simulation software.This article mainly studies in three parts:First,the research progress of domestic and foreign wall-climbing robots is summarized.The design and research of the underwater wall-climbing robot's structure is carried out according to the requirements and the working capability of underwater wall-climbing robot.The combination of the thrust-absorption and the track-catching mechanism is selected after comparing the commonly used adsorption methods and moving modes.Control cabin structure and watertight structure were designed and the pressure of the control cabin shell and observation window was checked with Workbench software.Secondly,in order to meet the requirements of the underwater climbing robots,the stress state of the climbing wall mode and the floating mode is analyzed.According to the relation between the instability criterion and the magnitude of the thrust when the wall-climbing robot crawls on the wall,the minimum thrust value is calculated by the MATLAB using the allowable thrust formula.The analysis of the water resistance of the umbilical cable in the floating model of the underwater wall-climbing robot obtains the resistance formula to provide the basis for the selection of the umbilical cable.Then,the obstacle-capability of the underwater crawler crawler is analyzed and studied to obtain two factors that affect the obstacle avoidance capability.Finally,the overall test and single test of the underwater wall climbing robot are performed.Propeller thrust test is performed on the propeller test bench to verify whether the test results meet the design requirements.Set up obstacles to verify the tracker's ability to overcome obstacles.At last the conclusion is drawn that the performance of the prototype meets the design requirement.