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传统结构机器人作业效率较低,为了改善该问题,提出了舰船舱室用码垛机器人虚拟结构设计。根据虚拟结构框架,对结构功能展开研究,在已知码垛初始点位置情况下,计算机器人旋转角度、水平位移和垂直位移,在结构控制条件下,完成机器人码垛功能。采用同步链条带动方式,根据自由度控制原理,通过CAN总线完成机器人虚拟伺服运动控制,经过底盘移动、起落门旋转、前叉升降协调运动,可设计出码垛机器人整体虚拟结构。通过实验结果可知,该结构最高作业效率可达到90%,符合码垛作业要求。 相似文献
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为应对复杂的作业工况和海洋环境,研究了水下中型作业遥控机器人(ROV)的操纵控制运动.文章分析了作业型ROV的操纵特性,根据其基本的定向、定高和定深的航行能力需求,基于模糊PID方法的控制原理,为其配置了精度高、响应快的控制系统,建立了4自由度操纵控制运动模型,对定向、定高等运动性能的操纵进行仿真研究,通过水池实验验证了该控制方法的有效性. 相似文献
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针对现有船舶制造业中人工打磨或砂带磨削等磨抛作业难以满足智能制造需求的现状,提出一种面向船舶磨抛机器人的气电混合式力控末端执行器,采用自适应变参数PID控制器对非对称气缸的气动力与大推力永磁直线同步电机的电磁力进行协调控制,实现作业接触力的实时补偿与精确控制。通过对气动系统、永磁直线同步电机系统、环境工件、力和速度控制器等进行建模与数值仿真,研究其负载波动响应与抗负载冲击特性。仿真结果表明,相比气动力控系统,气电混合式力控系统可消除气动系统振荡特性的影响,在35Hz范围内振动负载作用下的最大力波动幅值由138N(约为稳态值46%)减小至25N(约为稳态值8.4%);在阶跃负载作用下气缸活塞杆位移振荡和接触力冲击次数显著减少,调整时间分别仅为前者的32.3%和27.3%,有效提高了抗负载波动与冲击特性,可提升船舶磨抛机器人作业质量。 相似文献
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《船舶工程》2020,(6)
针对现有船舶制造业中人工打磨或砂带磨削等磨抛作业难以满足智能制造需求的现状,提出一种面向船舶磨抛机器人的气电混合式力控末端执行器,采用自适应变参数PID控制器对非对称气缸的气动力与大推力永磁直线同步电机的电磁力进行协调控制,实现作业接触力的实时补偿与精确控制。通过对气动系统、永磁直线同步电机系统、环境工件、力和速度控制器等进行建模与数值仿真,研究其负载波动响应与抗负载冲击特性。仿真结果表明,相比气动力控系统,气电混合式力控系统可消除气动系统振荡特性的影响,在35 Hz范围内振动负载作用下的最大力波动幅值由138 N(约为稳态值46%)减小至25 N(约为稳态值8.4%);在阶跃负载作用下气缸活塞杆位移振荡和接触力冲击次数显著减少,调整时间分别为前者的32.3%和27.3%,有效提高了抗负载波动与冲击特性,可提升船舶磨抛机器人的作业质量。 相似文献
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《船舶与海洋工程学报》2020,(3)
This paper presents a comprehensive review and analysis of ship hull cleaning technologies. Various cleaning methods and devices applied to dry-dock cleaning and underwater cleaning are introduced in detail, including rotary brushes, high-pressure and cavitation water jet technology, ultrasonic technology, and laser cleaning technology. The application of underwater robot technology in ship cleaning not only frees divers from engaging in heavy work but also creates safe and efficient industrial products. Damage to the underlying coating of the ship caused by the underwater cleaning operation can be minimized by optimizing the working process of the underwater cleaning robot. With regard to the adhesion technology mainly used in underwater robots, an overview of recent developments in permanent magnet and electromagnetic adhesion, negative pressure force adhesion, thrust force adhesion, and biologically inspired adhesion is provided. Through the analysis and comparison of current underwater robot products, this paper predicts that major changes in the application of artificial intelligence and multirobot cooperation, as well as optimization and combination of various technologies in underwater cleaning robots, could be expected to further lead to breakthroughs in developing next-generation robots for underwater cleaning. 相似文献
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The design of underwater hull-cleaning robot 总被引:2,自引:0,他引:2
YUANFu-cai GUOLi-bin MENGQing-xin LIUFu-qiang 《船舶与海洋工程学报》2004,3(1):41-45
The research on underwater ship-hull cleaning robot was conducted on the purpose of realizing the automation of cleaning underwater ship hull so that service life of ship will be prolonged and ship speed will raised. Moreover, fuel consumption and the work intensity of divers will be reduced. In this paper, the current situation and the latest technology in China and abroad were analyzed; meanwhile, the typical characteristics of the underwater cleaning robot were introduced. According to the work principle of the underwater cleaning robot, the emphasis was put on the analysis and study of permanent-magnetic absorption, magnetic wheel, airproof and anticorrosion, underwater cleaning equipment and control system. The robot is easy in rotation and simple in control. 相似文献
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从船坞内作业和水下作业这两个方面对目前国内外所有船体清洗机器人的开发现状进行系统全面的介绍,包括超高压爬壁除锈机器人和水下船体清洗机器人,突出水下船体清洗机器人的发展优势。将现有的水下船体清洗机器人按磁吸附、真空负压吸附、推力吸附、复合吸附等吸附类型进行分类,具体针对各类吸附移动对其结构功能设计的优缺点进行分析比对。最后,总结吸附性和灵活性难统一、船体复杂壁面难适应和废水废渣难回收等技术难点,针对存在的问题提出推力磁轮复合吸附和水射流清洗技术相结合的创新设计建议,并对多功能化、高智能化、自主性强的多机器人编队协同作业的船体水下清洗发展进行展望。 相似文献
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Motor Driving Leg Design for Bionic Crab-like Robot 总被引:2,自引:0,他引:2
Wang Li-quan Qu Xiao-rong Meng Qing-xin Yuan Peng Wang Mo-nanCollege of Mechanical Electrical Engineering Harbin Engineering University Harbin China 《船舶与海洋工程学报》2002,1(2):72-77
The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg. 相似文献
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为解决在船舶外场涂装阶段除锈和拉毛施工效率低、质量不稳定、环境污染严重等问题,设计一款用于船舶甲板的智能抛丸机器人。简介该型机器人系统组成,阐述其抛丸分系统、除尘分系统和越障辅助机构的硬件设计及其软件设计,并设计手动遥控和自主导引操作方式。实船测试结果表明,该型机器人可满足船舶甲板除锈清理的工作要求。 相似文献
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孙耀华 《交通部上海船舶运输科学研究所学报》1992,15(1):118-129
本文首先介绍了柴油机主要摩擦副——缸套和活塞环的磨损机理,然后提出了对曲柄箱润滑油的要求,其中最主要的是润滑油自始至终必须保持一定的碱性。作者还阐述了合理选择气缸润滑油的依据和方法,最后在我所的试验机上选用3种(A、B、C)不同配伍的润滑油作抗磨性,清净分散性比较试验,得出A优于B,B优于C,及A、B、C3种都可正常使用的结论。 相似文献
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