Design And Research Of Wall-climbing Robot For Cargo Hold Cleaning

With the development of China’s maritime transport,the size of China’s maritime fleet has reached the second position in the world and become a country with a large global maritime capacity.With the development of shipping,China’s demand for shipbuilding and ship repair is becoming more and more significant.Cargo hold cleaning is always a key part of ship maintenance.Traditional hold cleaning relies mostly on workers armed with high-pressure airbrushes.However,this kind of operation has big security risks,low efficiency and poor cleaning quality.Magnetic wall-climbing robot can be attached to the metal wall surface of the ship to perform cleaning tasks instead of workers,which greatly solves the disadvantages of manual cleaning.However,most wall-climbing robots are not able to adapt to the transition between multiple walls in cargo hold.Based on the above problems,this thesis develops a wall adaptive climbing robot for cargo hold cleaning.Firstly,according to the characteristics of multi-wall in cargo hold,this thesis proposes the requirements of wall adaptation for the wall-climbing robot.Through the analysis of different schemes of robot adsorption,walking,driving and cleaning,a concrete scheme of wall-climbing robot suitable for cargo hold cleaning is put forward.According to the scheme,magnetic adsorption mechanism,driving mechanism and adaptive cleaning mechanism are designed.Then,in order to verify the reliability and stability of the robot,the mechanical properties of the wall-climbing robot are studied.Based on statics and dynamics analysis,the mechanical model of cargo cabin cleaning of wall-climbing robot is obtained.By importing the model into ADAMS simulation software,the wall transition ability of the robot is verified.At the same time,the reliability of the key structure of the whole machine is analyzed by finite element method using ANSYS simulation software.In addition,in order to achieve the rated magnetic adsorption force,magnetic circuit design and multi-parameter optimization of magnetic adsorption mechanism are carried out.The magnetic circuit of Halbach array is analyzed by using ANSYS Maxwell software.The relationship between installation position,size and magnetic adsorption force of magnetic adsorption mechanism is simulated and optimized,and the optimal parameter relationship is determined.Finally,each part of the robot is manufactured and a robot prototype is assembled.In addition,a cargo hold experimental platform is built.The adsorption force of magnetic adsorption mechanism and the walking ability of robot prototype are tested.The results show that the robot can walk among multiple walls of cargo hold,and the efficiency and quality of water flushing cleaning are obviously improved compared with traditional manual cleaning,which really realizes the automatic cleaning operation of cargo hold...