基于液动的水下船体清刷机器人的研究  

Study of Cleaning Robot for Underwater Ship Hull Based on Hydraulic Transmission

作　　者：袁夫彩[1] 陆念力[1] 尹龙[2] 

机构地区：[1]哈尔滨工业大学机电学院,哈尔滨150001 [2]哈尔滨工程大学机电学院,哈尔滨150001

出　　处：《机床与液压》2008年第6期14-16,共3页Machine Tool & Hydraulics

基　　金：黑龙江省重点攻关项目(GB03A507);中国博士后基金(20070410257)

摘　　要：为了自动清刷水下船体表面附着的海生物和锈蚀等,降低船舶的航行阻力,研究了水下船体表面清刷机器人。分析了国内外水下清刷技术发展现状,针对水下船体清刷技术要求,分析和设计了机器人的泵油回路、推力吸附回路、行走转向回路和清刷系统回路、机器人的总体控制策略和实验方案。通过实验表明了水下船体清刷机器人各项性能达到了设计要求。To automatically clean the sea biology and corrosion on the underwater ship surface and reduce the navigation resist- ance, a cleaning robot was developed. An overview of related researches both at home and abroad was given. For the specification of underwater ship hull cleaning technology, the route of robot＇s pumping oil system, pushing system, walking reverse and cleaning system, robot＇s whole control system and the project of experimentation were analyzed and designed. Experimental results show that the performances of the developed robot prototype can meet the needs of the real application.

关 键 词：液压系统 机器人 水下清刷 船体表面 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]