流体机械

2019, v.47;No.567(09) 56-62

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基于高压水射流的船体清洗机器人关键技术分析
Analysis on Key Technologies of Ship Hull Cleaning Robot Based on High Pressure Water Jet

陈光明;黄旋;
Chen Guangming;Huang Xuan;Nanjing Agricultural University;

摘要(Abstract):

从吸附结构方面对近几年的船体清洗机器人进行分类介绍,阐述了各种吸附类型的优缺点及适用的环境。在分析机器人的工作姿态和失稳形式的基础上,分析了机器人吸附性与灵活性之间的矛盾,突出了发展复合吸附式船体清洗机器人的优势,并提出可行方案。从船体清洗方式的角度阐述了环保的高压水射流清洗技术,论述了坞内高压水射流清洗与水下高压水射流清洗存在的缺陷,提出将高压水射流技术与爬壁机器人技术结合的方案。最后总结了船体清洗机器人存在笨重不灵活、清洗不环保、智能化不足等问题,展望了机器人向复合吸附、自动化清洗和编队化作业发展的关键技术。
The ship hull cleaning robot in recent years were classified and introduced from the aspect of adsorption structure,and the advantages and disadvantages of various adsorption types and the applicable environment were described. Based on the analysis of the robot's working posture and the form of instability,the contradiction between the robot's adsorbability and flexibility was analyzed,the advantages of the development of the composite adsorption robot for ship hull cleaning were highlighted,and a feasible plan was proposed. The environment-friendly high-pressure water jet cleaning technology was described from the aspect of ship hull cleaning method. The defects of high-pressure water jet cleaning in the dock and underwater high-pressure water jet cleaning were discussed. The scheme of combining high-pressure water jet technology with wall-climbing cleaning robot technology was proposed. Finally,the problems of hull-cleaning robot were summarized,such as unwieldy and inflexible cleaning,non-environment-friendly cleaning and insufficient intellectualization,and the key technologies for the development of robots to composite adsorption,automated cleaning and grouped operations were prospected.

关键词(KeyWords): 船体清洗机器人;吸附方式;高压水射流技术
hull cleaning robot;adsorption types;high pressure water jet

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作者(Author): 陈光明;黄旋;
Chen Guangming;Huang Xuan;Nanjing Agricultural University;

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