水下清刷机械手的总体设计及方案分析

目前急需研制船舶表面水下自动清刷机器人,国内外对螺旋桨水下自动清刷机器人的研究还很少,水下清刷机械手的设计分析具有重要价值。针对要完成螺旋桨桨叶复杂曲面水下自动清刷作业的机械手,进行了方案设计,水下清刷机械手作为水下机器人的拓展模块,由2只具有对称结构的抓取机械手和1只清刷机械手组成,介绍了机械手的技术参数、总体系统、原理、功能和工作空间。该方案合理解决了高效、完整地对目标4叶螺旋桨进行清刷作业的关键问题。

An overall design and project analysis of manipulators for underwater cleaning

Presently, underwater ship bull cleaning robots are increasingly needed, however, robots for underwater propeller cleaning have rarely been studied, thus the design and analysis of manipulators for underwater propeller cleaning has wide value. The feasible overall design of manipulators for cleaning the full surfaces of propeller blades underwater is put forward. The manipulators can be assembled to ROV as a skid and are composed of two - paw manipulators of symmetric structure and a cleaning manipulator. The technical index, overall system, underwater propeller cleaning mechanism, function and workspace are introduced. The problem of cleaning the full surfaces of the four bladed propeller blades effectively is solved properly.