摘要
介绍一种船体表面水下清洗机器人的总体组成、基本功能和工作原理,提出了总体结构设计方案,验证了关键技术、研制了原理样机,并对原理样机进行了水下作业清洗,验证了主要技术性能指标。该机器人具有工作效率高、清洗效果好、作业成本低、自动化程度高等优点。该机器人的成功研发为当前清洗机器人的研究提供了参考。
In this paper,a kind of underwater robot for cleaning hull exterior is introduced,including the overall composition,basic functions,the working principle,and so on.The general structural design scheme is presented,the key technology is studied and verified,and the principle prototype is developed;at the same time,the principle prototype is cleaned underwater,and the main technical performance indicators are verified.This robot has the advantages of high efficiency,good cleaning effect,low operating cost,and high degree of automation,etc.;it would represent the current research direction of cleaning robot.
作者
张留芳
蒋绍博
蒋作
董春燕
查少雄
ZHANG Liu-fang;JIANG Shao-bo;JIANG Zuo;DONG Chun-yan;ZHA Shao-xiong(Kunming Shipbuilding Equipment Co.,Ltd,Kunming Yunnan 650051,China;Kunming Haiwei Institute of Mechanical and Electrical Technology,Kunming Yunnan 650236,China;School of Compter Science,Yunnan Nationality University,Kunming Yunnan 650031,China;Yunnan KSEC Electronic Equipment Co.,Ltd,Kunming Yunnan 650236,China)
出处
《机械研究与应用》
2022年第5期135-139,142,共6页
Mechanical Research & Application
基金
深圳市基础研究学科布局项目:面向海洋附着物清洗的水下清洗机器人系统关键技术研究(编号:20170014)。
关键词
清洗机器人
总体结构
水下
方案
船舶
cleaning robot
overall structure
underwater
scheme
ship
