船体清洗机器人的开发现状与展望

从船坞内作业和水下作业这两个方面对目前国内外所有船体清洗机器人的开发现状进行系统全面的介绍,包括超高压爬壁除锈机器人和水下船体清洗机器人,突出水下船体清洗机器人的发展优势。将现有的水下船体清洗机器人按磁吸附、真空负压吸附、推力吸附、复合吸附等吸附类型进行分类,具体针对各类吸附移动对其结构功能设计的优缺点进行分析比对。最后,总结吸附性和灵活性难统一、船体复杂壁面难适应和废水废渣难回收等技术难点,针对存在的问题提出推力磁轮复合吸附和水射流清洗技术相结合的创新设计建议,并对多功能化、高智能化、自主性强的多机器人编队协同作业的船体水下清洗发展进行展望。

Development Status and Prospect of Ship Hull Cleaning Robot

Ship cleaning technology has been developed through two stages of manual operation and mechanical operation, and now is in the third stage of operation by remote control machinery or robot .From two aspects of dock operation and underwater operations, the development status of current domestic and foreign ship hull cleaning robot has been introduced systematically and comprehensively, including ultrahigh pressure climbing and derusting robots and underwater ship hull cleaning robots, so that the development advantages of underwater ship hull cleaning robots is highlighted. And the existing underwater ship hull cleaning robots are classified according to the modes of magnetic adsorption, vacuum negative pressure adsorption, thrust adsorption, compound adsorption. Then the advantages and disadvantages of various types of adsorption and movement, structural and functional design are analyzed and compared specifically. Finally, some technical difficulties are summarized as the adsorption and flexibility is difficult to harmonize, the complex ship hull surface is difficult to adapt to, waste water and residue is difficult to recycle and so on. Aiming at the existing problems, the innovative design proposal of combining the thrust and magnetic wheel compound adsorption with the water jet cleaning technology has been put forward. Also, the development of multi-functional, highly intelligent and autonomous multi-robot formation collaborative operations in the ship hull underwater cleaning has been carried outlook.