水下船体清刷机器人磁吸附机构的设计与研究  

Design and Study on Magnetic Absorbing Machine of Underwater Robot for Cleaning Hull

作　　者：袁夫彩[1] 陆念力[1] 曲秀全[1] 

机构地区：[1]哈尔滨工业大学

出　　处：《中国机械工程》2008年第4期388-391,共4页China Mechanical Engineering

基　　金：黑龙江省重大科技攻关项目(GB03A507);中国博士后科学基金资助项目(20070410257)

摘　　要：为了实现水下船体表面清刷机器人在水下船体表面上的可靠吸附和灵活移动功能,对机器人磁吸附机构进行了设计研究。根据该机器人作业的特点和工作环境,分析了磁路材料和磁路类型,研究了衔铁、轭铁、铜块和海水等因素对磁吸附力的影响,设计了机器人的磁吸附机构。实际应用表明,该机器人在船体表面上吸附可靠,并且运动灵活,符合实际的需要。A magnetic absorbing machine of underwater ship hull surface cleaning robot was innovated for obtaining better performance of the robot＇s absorbing and moving function. According to its special working way and its unusual working conditions, the everlasting magnetic absorbing machine was designed by analyzing proper magnetic circuit material and magnetic circuit type. The influence of gag bit, yoking iron,copper blocks and sea water on the magnetic absorbability had been analysed through an experiment. The experiment conducted has clearly demonstrated that the absorbability of the machine is up to the requirements of the design. It is perfectly adaptable to the movement on the ship hull.

关 键 词：水下机器人 磁路 船体表面 磁场 

分 类 号：TP242.33[自动化与计算机技术—检测技术与自动化装置]