Research On Application And Design Of Wall Working Robot In Shipbuilding Industry

Wall operation robot can replace manual operation in the dangerous environment of "dirty and dangerous".It is an important intelligent equipment in the repair process of large ships.It conforms to the production concept of "people-oriented" and has been widely used.However,the structural characteristics of traditional wall robots make it difficult to give consideration to steering flexibility,moving accuracy and adsorption stability.This thesis summarizes the current research status of wall operating robots at home and abroad.Considering the ferromagnetic wall environment of ship hull,a new magnetic adsorption wall operating robot is developed which can take into account the robot’s steering flexibility,moving accuracy and adsorption stability.An improved ant colony algorithm with strong global search ability and fast convergence rate is proposed for optimal path planning of robot hull wall environment.The main research contents are as follows:(1)According to the environmental characteristics and functional requirements of the hull,an omnidirectional combination design method of "wheel-track unit + permanent magnet" was proposed based on the force transmission and kinematics theory during the program analysis of the walking mechanism and magnetic adsorption mechanism,which completed the three-dimensional modeling of the moving adsorption unit and realized the foundation of the omnidirectional movement of the robot.The adsorption characteristics are verified by numerical analysis and simulation,and the mechanical system design of the robot is completed.(2)The statics model and dynamics model of the robot under different angles of the hull wall are established.Under the safe adsorption condition to ensure that the robot wall does not fall,the dangerous tilt Angle and minimum driving moment of the robot and the hull wall under the positive attitude are analyzed based on the model,which provides theoretical support for the performance test experiment of the robot prototype and realizes the no-turn movement.The feasibility of the design scheme is verified.(3)In order to meet the search requirements of the shortest safe moving path for hull walls,the restriction method and safety search strategy of robot wall movement direction were determined according to the robot movement mode and guiding path conditions,and the behavioral rules were adjusted by setting the linear distance adaptation weighting coefficient and the upper and lower limits of the path pheromone concentration in the pheromone updating process.An improved ant colony algorithm is proposed for robot hull wall movement,which has strong global search ability and fast convergence speed.Compared with traditional ant colony algorithm,the operation time is nearly 40% shorter.(4)Aiming at the modeling problem of the working environment of the hull wall,the accessible working points of the hull wall robot are expressed rasterly with the help of the idea of graphics,and the simple fence map and complex fence map of the hull wall are constructed by simulating the characteristics of obstacles with the principle of twodimensional mapping.The influence of external special factors such as the robot’s motion state and working environment on the direction of movement is comprehensively considered.The main movement direction and turning mode of the robot are further defined.Through simulation and experiment,the improved ant colony algorithm is applied to guide the path optimization of the robot wall environment to find the shortest safe path,and the search process does not fall into the local optimal,which basically meets the actual path planning requirements.