摘要
从学科发展趋势以及项目难点出发,针对水下清洗机器人的功能、性能需求,将清洗机器人分解为7个分系统,并分别开展各分系统的方案设计及多学科优化设计以形成最佳总体方案。建立了一套爬壁式水下清洗机器人的设计理论与方法,为今后我国水下清洗机器人的研制提供思路和方法。总结出了一套爬壁式水下清理机器人的研制和试验方法,为今后相关技术的研发提供指导。所研制的爬壁式水下清理机器人可用于船舶除垢、除锈、船体检测、焊接喷涂等,能够促进水下机器人技术的进步,提高船舶维护、清理产业的技术水平。
According to the development trend and difficulty of the project,the designing of the underwater cleaning robot is divided into seven sub-systems according to its function and performance requirements,and the scheme design and multidisciplinary optimization design of each sub-system are carried out to form the best overall plan.A set of design theories and methods of wall climbing underwater cleaning robot is established to shed light on the development of underwater cleaning robot in China.This paper summarizes the development and test method of a climbing underwater cleaning robot,and provides guidance for the development of related technologies in the future.The climbing underwater cleaning robot can be used for applications such as ship descaling,rust removal,hull detection,welding and spraying,and can promote the advancement of underwater robot technology,and improve the technical level of ship maintenance and cleaning up industry.
作者
邢瑶
谢颖
蒋绍博
XING Yao;XIE Ying;JIANG Shaobo(Kunming Haiwei Institute of Mechanical and Electrical Technology,Kunming 650236,China;Faculty of Business,Kunming Metallurgy College,Kunming 650033,China)
出处
《昆明冶金高等专科学校学报》
CAS
2019年第5期50-58,共9页
Journal of Kunming Metallurgy College
关键词
船舶清洗
机器人
设计
cleaning of ships
robots
design
