| 基于超声原理消应力爬壁机器人的研制 |
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| 引用本文： | 张震,张东京,王永军,吴世海,吴国庆,吴爽.基于超声原理消应力爬壁机器人的研制[J].船舶工程,2020,42(6):6-10. |
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| 作者姓名： | 张震 张东京 王永军 吴世海 吴国庆 吴爽 |
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| 作者单位： | 中国船舶重工集团公司第七0二研究所,中国船舶重工集团公司第七0二研究所,中国船舶重工集团公司第七0二研究所,中国船舶重工集团公司第七0二研究所,中国船舶重工集团公司第七0二研究所,青岛东方船研深海装备结构技术有限公司 |
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| 摘 要： | 针对当前超声消应力现状,文章将超声消应力技术与爬壁技术、常规移动机器人技术相融合,提出消应力爬壁机器人的概念,基于永磁吸附原理开展消应力爬壁机器人的总体方案设计、力学分析和测试工作,研制成功消应力爬壁机器人原理样机,并以焊接试板为对象进行了示范性应用。应用结果表明,研制的消应力爬壁机器人能够达到预期的应力消除效果,可替代人工完成应力消除作业,有助于提高船舶制造过程中的自动化水平,具有较高的工程应用价值。
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| 关 键 词： | 消应力 机器人 爬壁 超声 |
| 收稿时间： | 2019/7/1 0:00:00 |
| 修稿时间： | 2019/10/6 0:00:00 |
Study of wall-climbing robot for stress relieving based on ultrasonic principle |
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| Zhang Zhen,Zhang Dong-jing,Wang Yong-jun,Wu Shihai,Wu Guo-qing and Wu shuang.Study of wall-climbing robot for stress relieving based on ultrasonic principle[J].Ship Engineering,2020,42(6):6-10. |
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| Authors: | Zhang Zhen Zhang Dong-jing Wang Yong-jun Wu Shihai Wu Guo-qing and Wu shuang |
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| Institution: | China Ship Science Research Center,China Ship Science Research Center,China Ship Science Research Center,China Ship Science Research Center,China Ship Science Research Center,Qingdao Oriental Ship Research Deep Sea Equipment Structure Technology Co LTD |
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| Abstract: | According to the current condition of ultrasonic stress relieving, this paper presents a new idea of climbing robot for stress relieving, and the overall scheme design, mechanical analysis and functional test were carried out based on magnetic adhesion principle. A prototype robot was developed successfully and the model application was carried out . The application shows that the wall-climbing robot can reach the expected effect without human intervention, and help generate new levels of intelligent manufacturing, so the research results have higher project application value. |
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| Keywords: | stress relieving robot wall-climbing ultrasonic |
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