Research On Underwater Ship Face Cleaning Robot Prototype

This researching task is a Heilongjiang important science technology project. In the dissertation, the design about reality and cleaning device and controlling system of The Underwater Ship face Cleaning Robot has mostly been fulfilled. Moreover, Position Localization mode as cleaning robot working is researched. Firstly, developing actuality and application status on underwater cleaning technology and pedrail type-creep wall robot at home and abroad is summarized, moreover, important meaning developing The Underwater Ship face Cleaning Robot is illuminated.A reality structure scheme using forever magnet adsorption and twin pedrail type structural cleaning robot is put forward based on bad circumstance of underwater ship face and realizing adsorption to move agility and safety on ship face. Forever magnet structure and driving chain and its correlating parameter and cleaning device are researched and designed. Drive style of cleaning robot is designed and servo motors are selected. So collectivity design on The Underwater Ship face Cleaning Robot is finished.Virtual Assembly for The Underwater Ship face Cleaning Robot is put up and the sports of cleaning device is simulated and the sport equation is established. By this Virtual Assembly analyzing, the reliable bases is provided for processing and producing robot parts, and that, reduce developing expense and shorten design period, moreover, most advantaged ensure is offered for succeed design on cleaning robot.The controlling system including super computer and subordinate computer based on AT89C51 is designed. According to controlling function of subordinate computer, the controlling circuit and interface circuit of servo motors controlled and serial port communicating circuit are designed and built in the robot reality. Super computer carry mainly through keyboard scan and number showing design. Different key assignments correspond with relevant control order of subordinate...