【摘要】 为了满足散货船货舱高效、安全的清洗需求，从四驱机器人力学特性分析出发，开展机器人关键部件设计。详细介绍了机器人通过货舱钝角壁面、反斜面爬行及越障等过程的力和力矩特性，构建了综合考虑转轮摩擦力和磁铁吸附力的力学平衡方程，结合现场实际工况进行机器人吸附能力分析验证，研制出一款携带自适应清洗机械臂的货舱水射流清洗机器人，并进行现场应用。结果表明，所研制的清洗机器人的安全系数达到1.98，机器人附壁能力优良；清洗作业时，1 MPa额定压力下射流半径可达25 m。与人工清洗相比，清洗效率提升到900 m~2/h，清洗时间减少约50%。研究成果可为散货船货舱自动化清洗应用提供参考。更多还原

【Abstract】 In response to the efficient and safe cleaning needs of bulk cargo holds,starting from the analysis of the mechanical characteristics of the four-wheel drive robot,key components of the robot were designed.A detailed analysis was conducted on the,,force and torque characteristics during the process of crawling through obtuse angled wallsreverse inclined surfacesand obstacle crossing in cargo holds.A mechanical equilibrium equation was then constructed considering the friction force of the wheels and the magnetic adsorption force.Combined with the actual working conditions on site,the adsorption ability of the robot was analyzed and verified.A cargo hold water jet cleaning robot carrying an adaptive cleaning robotic arm is developed and applied on site.The results show that the safety factor of the developed cleaning robot is 1.98,indicating excellent wall attachment ability of the robot.During cleaning operations,the jet radius can reach 25 m at a rated pressure of 1 MPa.Compared with manual cleaning,the cleaning efficiency has been improved to 900 m~2/h, and the cleaning time has been reduced by about 50%.The research results can provide reference for the application of automated cleaning of cargo holds in bulk carriers.更多还原