壁面清洗水下机器人清洗性能分析与试验  

Analysis on cleaning performance and experiment of underwater cleaning robot for surface

作　　者：王晓鸣[1] 李腾[1] WANG Xiao-ming;LI Teng(School of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China)

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《吉林大学学报（工学版）》2023年第11期3062-3068,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家重点研发计划项目(2020YFC1521704);天津市科技计划项目(19YFZCCG00230).

摘　　要：针对附着在养殖舱壁面上的污染物和剩余饵料人工难以清洗问题,研发了一款可对壁面进行自动清洗的水下机器人,该机器人为转刷清洗、推力吸附、轮式移动机构的设计方案。通过对实验刷盘进行清洗率、清洗能耗分析,确定刷盘的设计和布置方式,完成机器人移动速度与刷盘转速的匹配。分析结果表明,当刷盘转速一定时,增加刷毛层数或降低机器人移动速度可提高清洗率;机器人为小尺寸刷盘的布置方式时可降低清洗能耗。通过试验测试,机器人可贴壁稳定航行,当机器人移动速度为0.2 m/s,刷盘转速为200 r/min时,清洗效果显著,清洗效率为388 m^(2)/h,可满足实际工况下的使用要求。In order to solve the problem that it is difficult to manually clean the pollutants and residual bait attached to the bulkhead of aquaculture,an underwater robot which can automatically clean the wall is developed.The robot is a design scheme of rotary brush cleaning,thrust adsorption and wheel mobile mechanism.By analyzing the cleaning rate and cleaning energy consumption of the experimental brush plate,the design and layout of the brush plate are determined,and the matching between the robot moving speed and the brush plate rotating speed is completed.The results show that when the rotating speed of the brush disk is constant,increasing the number of bristles or reducing the moving speed of the robot can improve the cleaning rate;The cleaning energy consumption can be reduced when the robot is arranged with a small size brush plate.Through the test,the robot can stick to the wall and navigate stably.When the moving speed of the robot is 0.2 m/s and the rotating speed of the brush disc is 200 r/min,the cleaning effect is remarkable,and the cleaning efficiency is 388 m2/h,which can meet the requirements of the actual working conditions.

关 键 词：壁面清洗 水下机器人 清洗性能 刷盘 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]