| 船舶喷砂除锈爬壁式机器人设计 |
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| 引用本文： | 赵军友,毕晓东,单亦先,董亚飞,刘崇宁,田诗豪.船舶喷砂除锈爬壁式机器人设计[J].船舶工程,2018,40(10):10-14. |
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| 作者姓名： | 赵军友 毕晓东 单亦先 董亚飞 刘崇宁 田诗豪 |
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| 作者单位： | 中国石油大学(华东)机电工程学院,山东青岛,266580;青岛中石大科技创业有限公司,山东青岛,266400 |
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| 基金项目： | 山东省科技发展计划项目2014GSF117033 |
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| 摘 要： | 设计了一种船舶喷砂除锈爬壁式机器人,用以代替人工高空除锈作业。通过静力分析仿真,确定了负载、单个磁吸附单元磁力和壁面角度之间的关系,并确定了保证不下滑和不翻转的最大负载。通过动力分析仿真,确定了电机及减速器输出的最小转矩。根据仿真结果研制了爬壁机器人样机,该机可在各工况下进行运作,且能爬越10mm高的障碍,能够满足工作要求。
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| 关 键 词： | 船舶喷砂除锈 爬壁式 机器人 磁吸附单元 壁面角度 |
| 收稿时间： | 2018/4/26 0:00:00 |
| 修稿时间： | 2018/11/12 0:00:00 |
Design and Research of Ship Sand Blasting and Rust Removing Wall-climbing Robot |
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| Institution: | College of Mechanical and Electrical Engineering,China University of Petroleum,College of Mechanical and Electrical Engineering,China University of Petroleum,Qingdao Zhong Shi Da Science and technology venture Co,Ltd Qingdao,College of Mechanical and Electrical Engineering,China University of Petroleum,College of Mechanical and Electrical Engineering,China University of Petroleum,College of Mechanical and Electrical Engineering,China University of Petroleum |
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| Abstract: | A kind of ship sand blasting and rust removing wall-climbing robot is designed, which is used to replace the artificial high-altitude derusting operation. Through the simulation of static analysis, the relationship between the magnetic force, magnetic force of single magnetic adsorption unit and wall angle is determined. The maximum load to ensure no slippage and no rollover. Through the simulation of dynamic analysis, the minimum torque output of the motor and reducer is determined. According to the simulation results, a wall-climbing robot prototype was developed. The machine can perform operation under load requirements and can climb over obstacles of 10mm height, so the machine can meet the job requirements. |
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| Keywords: | static analysis simulation magnetic adsorption unit wall angle dynamic analysis |
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