Research On Prototype Of Ship Hull Cleaning Robot

In allusion to the period brushing on the ship hull and aim at enhancing the level of the automatization, The ship hull robot is research as a special type underwater working tool. Because of wide application value It is supported by The Heilongjiang science and technology tackling Fund.At first, The dissertation introduces the meaning of Research and Development on the Cleaning Robot, as well as the development situation and the application instance of the underwater brushing tool. Bring forward several project, through analyzing and contrast, we select double crawler movement and permanent magnetic adsorption for the robot.Then design the mechanical noumenon, including the design of the permanent magnetic adsorption, the design of the chain driving, the design of the brushing, the design of the pressurized equipment. Etc.The paper sets up mechanics model of the robot when it is immobile or mobile, it is effected by acclivitous-resistant devices, makes kinematics analyses, and build up the kinematics equation.At last The paper studies and designs the circuit driving the servo motor and the motor for clearing, and the serial communication circuit, and the sensor data input circuit etc. The author develop the embedded controller software based the advanced language-c.In conclusions The Underwater Ship Hull Cleaning Robot which is invented has the important meaning, the robot raise the labour productivity and make better outlook for the brushing automatization.