摘要近年来伴随着海洋经济的飞速发展，我国也加大了对海洋事业开发的重视程度，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，贝类等。其吸附于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，同时也污染环境。因此对藤壶、海藻等船体附着物进行相关的清扫处理成为当务之急。水下机器人可实现短期阶段性清扫，成本低廉，并可以在船航行时进行清扫，在航海业具有广泛的应用前景。但目前已有的水下机器人存在效率低下，清扫质量无法满足市场需求，对于藤壶等强力附着物无法进行有效清扫。84083

针对上述问题，本文在基于负压吸附与强磁履带模块协调技术，设计了一种包围式履带移动平台，此平台通过四条履带的吸附配合和移动配合方案确保机器人在船面全方位移动。在清扫机构方面采用模块化设计理念，针对附着物附着特点设计专业清扫模块，通过模块化接口组合实现分级清扫功能。最后，通过友好的人机界面和任务调度系统，将清扫质量及效率参数实时反馈于监管系统，具有良好的可操作性，保证了清扫质量。

首先，分析了目前水下清扫船体机器人系统组成及国内外研究现状，根据工作需求提出相应的设计架构，关键结构的实现方案与技术参数，设计了整体机械结构原理模型。

进而具体剖析了水下清扫船体机器人的机械结构设计，计算其吸附力及吸附效果，分析型材及电机选型，标准件选用等。运用虚拟样机模型技术，建立清扫船体机器人的虚拟样机模型，同时针对关节结构进行有限元分析校核其强度，为实物样机的制作提供了有力的理论依据。绘制加工图纸，加工零件，并装配样机。

其次，根据其功能需要设计电控系统，绘制电路原理图，搭建控制系统和驱动系统，整理系统框图和实物框图，完善其控制系统，并检测其电控系统稳定性。

最后，测试其移动机构的移动特性，对移动以及清扫进行稳定性判断，分析其移动特性及清扫特点，进一步保证了清扫船体机器人的工作安全性和可靠性，为水下清扫船体机器人的进一步研究打下了扎实的基础。

毕业论文关键词：清扫船体机器人；模块化；全方位移动；虚拟样机

Abstract In recent years, with the rapid development of marine economy, China has also increased the degree of attention to the development of marine industry, marine industry gradually developed However, because of the long time sailing in the ocean, resulting in a variety of small water plants attached to the hull surface, such as barnacles and seaweed, shellfish and so on。 Its adsorption on the surface of the hull will lead to increase in the resistance of the ship in the process of running, increase the fuel consumption of the ship when traveling, but also pollute the environment。 So the barnacles, algae and other related attachments hull cleaning has become a pressing matter of the moment。 The underwater robot can achieve short-term cleaning, low cost, and can be cleaned when the ship is sailing, and it has a wide range of application prospects in the navigation industry。 But at present, the existing underwater robot has low efficiency and the cleaning quality unable to meet market demand, the barnacles strong attachments cannot be effectively sweep。

In view of the above problems, this paper based on negative pressure adsorption and strong magnetic crawler module coordination technology design a surrounded by crawler type mobile platform。 This platform by the adsorption of the four band with and movement with the program to ensure the deck of the omnidirectional mobile robot in。 The modular design concept is adopted in the cleaning mechanism, and the cleaning module is designed according to the characteristic of the attachment。 At last, through the friendly man-machine interface and task scheduling system, the cleaning quality and efficiency parameters are real-time feedback to the supervision system, which has good operability, and can ensure the quality of cleaning。 The main contents of this paper are: