| After a ship has been sailing for a period of time,a large number of marine organisms will attach to the underwater part of the ship.This layer of biological attachment will lead to a series of disadvantages,such as reduced speed and increased fuel consumption.The common methods of dock cleaning and manual cleaning generally have the disadvantages of long construction period,high cost and high risk.Therefore,the research and development of efficient,economic and safe underwater robot for ship cleaning has been paid more and more attention.In this paper,a prototype of underwater cleaning robot for ship cleaning is designed and developed.Firstly,the cleaning rate and resistance moment are studied after the cleaning objects are determined.Secondly,the robot prototype design is guided according to the results of cleaning rate and resistance moment.Secondly,the relationship between hydrodynamic force and kinematics of the robot prototype is studied.Finally,experiments are carried out to verify the correctness of cleaning rate research and robot The applicability of the prototype.The main contents of this paper are as follows:(1)Study on the cleaning rate and resistance moment of brush disk cleaning method.Firstly,the species and quantity of ship attached organisms were investigated,and the attached conditions of main attached organisms were analyzed.Barnacle was determined as the main research object of cleaning operation.Secondly,the interaction relationship between barnacle and bristle was studied.Combined with the physical characteristics of barnacle and bristle,the relationship between cleaning rate and various factors,cleaning rate and brush disc radius,rotation speed and bristle rigidity were obtained At last,combined with the interaction between barnacle and bristle and the resistance moment of the brush plate to the ship’s wall under water,the blocking moment of the brush plate during underwater operation is obtained.(2)Prototype design of ship cleaning robot.Firstly,the overall scheme of the robot is determined;secondly,each part of the robot is introduced and designed,and finally the robot prototype is obtained;finally,the strength of the main parts is checked to verify the reliability of the robot prototype.(3)Analysis of hydrodynamic and motion characteristics of ship cleaning robot prototype.Firstly,the hydrodynamic performance of the thruster used in the robot is analyzed,and the thrust values of the thruster at different speeds are obtained.Secondly,the kinematic equation of the robot is established,and the hydrodynamic performance analysis is carried out to find out the relationship between the speed and resistance of the robot in different motion states.At the same time,considering the reaction force of the ship wall and attached organisms on the brush disc,the relationship between the propeller layout,the speed and the acceleration degree of the robot is found out,and the movement characteristics of the robot in different motion states are obtained in theory.Finally,the pressure flow field of the robot in different motion states is analyzed to verify the rationality of robot structure and motion stability.(4)Ship cleaning robot prototype experiment.Firstly,the airtightness test and pressure test are carried out on the main parts of the robot to verify the reliability of the mechanical structure of the robot prototype;secondly,the thrust performance of the propeller is tested to prove that the performance of the propeller meets the use requirements;finally,the similarity between the cleaning rate calculated by the cleaning rate experiment and the calculated cleaning rate is obtained,and the starting point of the experiment is analyzed to determine the machine The cleaning rate of the human prototype is more than98.0% at the rated speed.Combined with the analysis of the surface effect after cleaning,the cleaning ability of the robot prototype can reach the level of HPW2 level,which verifies the applicability and cleaning ability of the robot prototype. |
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