舰船除锈喷漆机器人的研究与设计

Study and design of descaling and spray-painting robot used in shipbuilding industry

为了改进舰船修造行业除锈、喷漆工作落后的、传统的人工作业方式,设计了一种具有除锈、喷漆功能的机器人装置。该机器人采用直角坐标和柱坐标相结合的设计方法,通过主从遥控控制或自动轨迹规划控制,能够实现平面和曲面作业。详细介绍了该机器人的本体结构、驱动方式和控制系统构成,并对机器人自动工作方式的轨迹规划作了阐述。实践表明,使用该机器人代替人工作业,不仅可以减轻操作工人的劳动强度,还可提高工作效率和施工质量,具有较强的应用价值。

In order to improve the traditional backward manual work of descaling and spray-painting in ship industry,a kind of robot was designed based on cylindrical coordinates and rectangular coordinates. The robot can finish the desealing and spray-painting work of plane and curved hulls under the master-slave telecontrol and the automatic trajectory planning control. The robot structure, drive method and control system construction is introduced in detail, and the automatic trajectory planning is described as well. The practice shows that it can not only lighten the labor intensity of workers but also enhance the work efficiency and construction quality by using the robot instead of workmen, and therefore, the robot has been of great practical value.