First, the analysis of the current underwater cleaning hull robot system composition and domestic and foreign research present situation, according to the requirements of the work, put forward corresponding design architecture, key structure of the implementation scheme and technical parameters, design the overall principles of mechanical structure model。

Then the mechanical structure design of the underwater cleaning robot is analyzed, the adsorption capacity and the adsorption effect are calculated, and the selection of the profile and the motor is analyzed。 Using virtual prototype technology, establish sweeping hull robot virtual prototype model, while for joint structure, finite element analysis and checking the strength and provides a strong theoretical basis for making the physical prototype。 Drawing working drawings, machining parts, and assembly prototype。

Secondly, according to the function of the required design of electrical control system, draw the circuit schematic diagram, set up the control system and drive system, finishing system and object diagram, improve the control systems, and to detect the stability of the control system。

Finally, test the moving mechanism moving characteristics, of mobile and cleaning in judging the stability of the moving characteristics and cleaning characteristics, further guarantees the cleaning hull robot work safety and reliability, water cleaning and laid a solid foundation for further study of hull robot。

Keywords: cleaning robot; modularization; omnidirectional movement; virtual prototype

目  录

第一章 绪论 1

1。1 课题研究背景 1

1。2 国内外研究现状 3

1。3 课题研究的目的与意义 4

1。4 课题研究的主要内容与关键技术 5

1。5 本章小结 6

第二章 水下清扫船体机器人总体方案设计 7

2。1 水下清扫船体机器人设计要求 7

2。2 水下清扫船体机器人的机械系统方案 9

2。2。1 机械系统的设计原则 9

2。2。2 设计方法 9

2。2。3 移动平台方案设计 11

2。2。4 清扫机构方案设计 14

2。3 水下清扫船体机器人的电控系统方案 15

2。3。1 驱动系统的设计思路 15

2。3。2 传感系统的设计思路 16

2。4 本章小结 16

第三章 水下清扫船体机器人移动平台设计 18

3。1 水下清扫船体机器人移动平台分析 18

3。1。2水下清扫船体机器人关键位姿受力分析 18

3。2 水下清扫船体机器人移动平台设计 20

3。2。1 履带吸附结构 23

3。2。2 负载轮结构 23

3。2。3 链轮传动结构 23

3。2。4 履带张紧结构 23

3。3 水下清扫船体机器人移动平台整体搭建 24