船舶除锈爬壁机器人设计方案研究

Research on Design Scheme of a Wall Climbing Robot for Rust Removal

为实现船舶表面自动除锈,使修造船的涂装工作有效进行,研究一种具有超高压水射流除锈和真空回收锈渣能力的船舶除锈爬壁机器人。提出船舶除锈爬壁机器人设计方案,指出该机器人的设计难点,制定机器人设计技术路线。针对机器人的设计指标和设计条件,选择关键机构和关键元件,设计该机器人的本体结构,确定该机器人的控制方案。机器人样机试验结果表明:船舶除锈爬壁机器人有较好的性能,机器人总体设计方案可行。

To automatically remove the ship surface rust and make the application work effectively, a wall climbing robot for rust removal was developed, which has the abilities of ultra-high pressure water jetting rust removing and vacuum residue displacing. A design scheme of the robot was proposed, the design difficulties were pointed out, and the technical route was made. According to the requirements of ship dcrusting operation, the key mechanism and components were chosen, the robot body structure was designed, and the control scheme was defined. The prototype of robot was manufactured. The results of the experiments show that the robot works in a good condition, and the design scheme is reasonable.