船舶外板拖涂爬壁机器人设计

Design of a Wall-climbing Robot for Dragging and Coating Ship Outer Panel

针对船舶外板爬壁喷涂的轨迹涂层保护策略,提出了搭载往复喷枪的船舶外板拖涂爬壁机器人设计。从系统角度,全面对该机器人的拖涂爬壁本体系统、供料及漆雾回收防护罩系统、安全防护系统、轨迹规划等进行了总体设计,并分别对每个部分的设计问题进行提炼分析,提出相应的解决方案。这种爬壁机器人设备,能够模拟人工作业,并可以根据双机作业控制流程进行多机联动附壁作业,为机器化在船舶智能制造生产中的实际应用提供了参考。

Aiming at the protection strategy of trajectory coating for wall-climbing spraying on ship's outer panel,a design of wall-climbing robot with reciprocating spray gun is proposed.From the system point of view,the overall design of the robot's dragging wall climbing body system,feeding and paint mist recovery protective cover system,safety protection system and trajectory planning were carried out.The design problems of each part were refined and analyzed separately,and the corresponding countermeasures were put forward.This wall-climbing robot can simulate manual work,and can perform multi-machine linkage wall-attaching operation according to the two-machine operation control process,which provides reference value for the practical application of mechanization in ship intelligent manufacturing production.