导管架清洗机器人设计及水动力性能研究

Design and Hydrodynamic Performance Research of Jacket Cleaning Robot

导管架长期浸泡在海水中会受海水的侵蚀及海生物的附着,进而对安全生产构成严重威胁,因此,需要定期清理其表面的海生物。目前主要依靠潜水员携带喷枪清洗导管架,效率低且存在巨大安全隐患。为此,设计了一种真空吸附和推力吸附相结合、四轮驱动的导管架清洗机器人,详细介绍了其整体结构、控制系统,并对其浮游直行状态进行了水动力仿真计算。结果表明,机器人结构设计合理,水动力性能良好,为导管架清洗机器人研究提供了一种新的方案。

The jacket will be eroded by seawater and attached by marine organisms if it is immersed in seawater for a long time,which will pose a serious threat to safety production.Therefore,it is necessary to regularly clean the marine organisms on its surface.At present,the jacket is mainly cleaned by divers with spray guns,which is inefficient and has huge potential safety hazards.Therefore,a four-wheel drive jacket cleaning robot,which combines vacuum adsorption and thrust adsorption,is designed.Its overall structure and control system are introduced in detail.The hydrodynamic simulation calculation of its floating straight state is carried out.The results show that the structure design of the robot is reasonable and the hydrodynamic performance is good,which provides a new scheme for the research of jacket cleaning robot.