The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. ...The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.展开更多
According to the requirement of automatization of drainpipe deposit cleaning work in the municipal engineering works,a kind of robot for drainpipe deposit cleaning work has been researched and manufactured with the si...According to the requirement of automatization of drainpipe deposit cleaning work in the municipal engineering works,a kind of robot for drainpipe deposit cleaning work has been researched and manufactured with the simulation analysis and the technique of virtual prototyping.In this paper,the composition principle and key techniques of the robot are elaborated in detail,including the technique of adapting and adjusting the change of pipe diameter,technique of obstacle crossing,technique of walking and driving and so on.The manufactured prototype and results of tests show that the robot possesses characteristics,such as adapting range of pipe diameter between 400 and 500 mm,the walk speed with 2 m /min,the drag force beyond 3 kN,and the walk distance with 1 km.展开更多
Aiming at the complicated cleaning environment of high-voltage substation insulators,the cleaning robot design principles are put for ward.On this basis,the structure framework of cleaning robot is proposed,and its sy...Aiming at the complicated cleaning environment of high-voltage substation insulators,the cleaning robot design principles are put for ward.On this basis,the structure framework of cleaning robot is proposed,and its system composition is introduced,mainly including mobile mechanism,clamping mechanism and cleaning mechanism.The structure has the characteristics of light weight,small size and self-locking without motor.Pro/E software is used to complete the modeling of the cleaning robot.Finally,ADAMS is used to establish the simulation model for the cleaning robot,its moving and cleaning process on high-voltage substation insulators is simulated,and the simulation results are analyzed.The results show that the structural design of the cleaning robot is reasonable.展开更多
This paper presents a comprehensive review and analysis of ship hull cleaning technologies.Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail,including r...This paper presents a comprehensive review and analysis of ship hull cleaning technologies.Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail,including rotary brushes,high-pressure and cavitation water jet technology,ultrasonic technology,and laser cleaning technology.The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products.Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot.With regard to the adhesion technology mainly used in underwater robots,an overview of recent developments in permanent magnet and electromagnetic adhesion,negative pressure force adhesion,thrust force adhesion,and biologically inspired adhesion is provided.Through the analysis and comparison of current underwater robot products,this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation,as well as optimization and combination of various technologies in underwater cleaning robots,could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.展开更多
This article presents the research and development of an electric vehicle（EV） in Department of Human-Robotics Saitama Institute of Technology,Japan.Electric mobile systems developed in our laboratory include a conve...This article presents the research and development of an electric vehicle（EV） in Department of Human-Robotics Saitama Institute of Technology,Japan.Electric mobile systems developed in our laboratory include a converted electric automobile,electric wheelchair and personal mobile robot.These mobile systems contribute to realize clean transportation since energy sources and devices from all vehicles,i.e.,batteries and electric motors,does not deteriorate the environment.To drive motors for vehicle traveling,robotic technologies were applied.展开更多
基金Key Project funded by Department of Science & Technology of Heilongjiang Province (GB03A507)
文摘The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed;meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control.
基金Sponsored by Heilongjiang Province,Department of Science and Technology,Major Science and Technology Projects (Grant No. GZ08A501)
文摘According to the requirement of automatization of drainpipe deposit cleaning work in the municipal engineering works,a kind of robot for drainpipe deposit cleaning work has been researched and manufactured with the simulation analysis and the technique of virtual prototyping.In this paper,the composition principle and key techniques of the robot are elaborated in detail,including the technique of adapting and adjusting the change of pipe diameter,technique of obstacle crossing,technique of walking and driving and so on.The manufactured prototype and results of tests show that the robot possesses characteristics,such as adapting range of pipe diameter between 400 and 500 mm,the walk speed with 2 m /min,the drag force beyond 3 kN,and the walk distance with 1 km.
文摘Aiming at the complicated cleaning environment of high-voltage substation insulators,the cleaning robot design principles are put for ward.On this basis,the structure framework of cleaning robot is proposed,and its system composition is introduced,mainly including mobile mechanism,clamping mechanism and cleaning mechanism.The structure has the characteristics of light weight,small size and self-locking without motor.Pro/E software is used to complete the modeling of the cleaning robot.Finally,ADAMS is used to establish the simulation model for the cleaning robot,its moving and cleaning process on high-voltage substation insulators is simulated,and the simulation results are analyzed.The results show that the structural design of the cleaning robot is reasonable.
基金Supported by the General Program of the National Natural Science Foundation of China under Grant No.51879157the“Construction of a Leading Innovation Team”project by the Hangzhou Municipal Governmentthe Startup Funding of Newjoined PI of Westlake University under Grant No.041030150118。
文摘This paper presents a comprehensive review and analysis of ship hull cleaning technologies.Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail,including rotary brushes,high-pressure and cavitation water jet technology,ultrasonic technology,and laser cleaning technology.The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products.Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot.With regard to the adhesion technology mainly used in underwater robots,an overview of recent developments in permanent magnet and electromagnetic adhesion,negative pressure force adhesion,thrust force adhesion,and biologically inspired adhesion is provided.Through the analysis and comparison of current underwater robot products,this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation,as well as optimization and combination of various technologies in underwater cleaning robots,could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning.
文摘This article presents the research and development of an electric vehicle（EV） in Department of Human-Robotics Saitama Institute of Technology,Japan.Electric mobile systems developed in our laboratory include a converted electric automobile,electric wheelchair and personal mobile robot.These mobile systems contribute to realize clean transportation since energy sources and devices from all vehicles,i.e.,batteries and electric motors,does not deteriorate the environment.To drive motors for vehicle traveling,robotic technologies were applied.
