摘要伴随着海洋经济发展，我国也加大了对海洋的重视程度，船舶行业逐渐兴旺 发达。但由于长时间在海洋中航行，导致各种小型水生物植物附着于船体表面， 例如藤壶，海藻等。藤壶吸附在船体表面会导致轮船在行驶过程中阻力增大，增 加轮船在行驶时的油耗，也污染了环境。因此必须对藤壶等小型水生物进行处理。 85075

论文对海内外清刷技术的进程展开了探讨，认识了水下清扫机构的近况。在 认识了清刷机器人工作原理后，对机器总体方案及结构设计提出了建议。本文重 点围绕清扫机器人清扫机构设计展开。 

在清扫机构结构设计中，围绕着清洁方便、简单不损坏船体的设计要求进行 了清洗装置主要设计，对各种刷盘的性能进行了比较从而进行优选。在确定刷盘 类型后并进行了清扫转盘模块结构设计。最终通过 solidworks 软件完成了建模 及优化，确定最终方案。 

在完成建模后，利用 ANSYS 软件和 solidworks 中的 simulation 模块对清扫 装置各部分进行了有限元分析，验证了设计是否满足强度要求等。 

研究工作表明：本文所设计的复合型柔性刷盘不仅具有其他几种刷盘固有的 功能，还能更好地保护船体和模块化设计，方便拆卸与维护，同时能够满足设计 要求与强度要求等。 

毕业论文关键词： 清刷机构；柔性 ；水下船体清扫机器人； 

Abstract With the Marine economic development, our country also increased the importance of Marine shipping industry gradually flourished。 But due to long time in the ocean sailing, leading to a variety of small aquatic plant attached to the hull surface, such asbarnacles, seaweed, etc。 Barnacles on the hull surface adsorption can lead to the ship in the process of driving resistance increases, increase the ship fuel in cars, also pollute the environment。 So you must to deal with barnacles and other small aquatic organisms。

Papers on the discussion on the development of flush technology at home and abroad, to understand the present situation of underwater cleaning mechanism。 After understanding the working principle of the flush robot, the robot overall scheme and structure design are proposed。 This paper mainly revolves around cleaning robot mechanism。

In cleaning the organization structure design, around the clean is convenient, simple, no damage to the hull cleaning device for main design, the  design requirements for the performance of all kinds of brush set are compared and optimization。 In determining the brush after plate type and cleaning the wheel module structure design。 Finally finished by solidworks virtual 3 d modeling and optimization, design scheme is determined。

After finish the modeling, the use of ANSYS software and simulation module of solidworks for cleaning device each part has carried on the finite element analysis, to verify the design whether meet the requirements of strength, etc。

Research shows that: in this paper, the design of composite flexible brush plate not only has several other brush plate inherent function, also can better protect the hull and the modular design, easy disassembly and maintenance, and can satisfy the design demands and strength, etc。

Key words: flush institutions; Flexible; The underwater ship hull cleaning robot;

目录 

第一章 绪论 1

1。1 课题的背景、目的及意义 1

1。2 国内外水下船体清扫技术发展概况 2

1。2。1 水下清刷技术的发展阶段 2

1。2。2 国外水下船体清刷技术的发展概况