Research On Underwater Ship Hull Cleaning Robot Magnetic Absorbing & Driving Technology

The underwater ship skull cleaning robot researched is supported by The Heilongjiang Homecoming Scholar Fund. In the paper , we accoplich Robot design of body strcture and control system. .In the paper , we clarify the developing situation of underwater cleaning technology and the wall-climbing robot, out and in the country . According to work situation , we select double crawler movement and permanent magnetic adsorption for the robot.The research of underwater cleaning robot is diffictlty in the design of magnetic adoption strcture and body structure , the select of drive technology. Especially, the design of magnetic adoption strcture and body structure is more difficulty.The design of magnetic citcuit strcture include magnetic circuit and capcule and joit strcture .We select a model, and robber capcule .In the body structure designing , we think over weight and structure carefully. We select chain gearing.The robot force ananysis is foundation of mangnetic adoption system and driving system. We ananysis two typer of force statersilence and dynamic.We also research encapsulation and airproof.of robot. Because robot work in sea water.The control system apply two layer control system. Upper system is responb for the management and path planning of the robot, and the lower is responble for the controlling of the moving ang posture of the robot.At last , performance experiments for the robot are made. Test results indicate that the developed ship hull cleaning robot is in accordance with the design specifications.