水下船体清刷机器人关键技术及其试验的研究

Study on the Key Technology and Experimentation of Cleaning Robot for Underwater Ship Hull

为了自动清刷水下船体表面附着的海生物和锈蚀等,降低船舶的航行阻力,研制了水下船体表面清刷机器人。首先建立了机器人在船体表面上的力学模型,推导了机器人抗倾覆、滑落和下滚的条件,设计了机器人所需要的吸附力和驱动力矩。针对电机可供密封用的轴向尺寸小的情况,在电机输出轴上加轴套,该轴套既起到了联接的作用,又为密封创造了条件,解决了密封难的问题。对水下清刷作业装置进行了动力学分析和优化设计。针对机器人的控制要求,设计了机器人的控制系统。最后对机器人样机性能进行了试验,验证了机器人样机各项性能指标符合使用要求。

In order to clean the biofouling and corrosion etc on underwater ship hull suface automatically and reduce the navigation resistance, a cleaning robot was developed. First, the robot＇s mechanical model was set up to infer the condition of anti - overturn , fall, roll, and get the magnetic force and the diver torque which make sure the robot move on the ship hull surface for sealing. Due to the axial size the requirements of robot control, the robot control system. Finally,the test of robot protoype has been done. The test results show that the various performnces of the robot prototype meet the application requirements.