船用吸附蠕动攀爬式机器人的设计与实现  

A design and implementation of adsorptive crawl and speeling robot for detecting and repairing on vessel

作　　者：江航[1] 杨晓非[1] 江汉红[2] 

机构地区：[1]华中科技大学电子科学与技术系,湖北武汉430074 [2]海军工程大学电气与信息工程学院,湖北武汉430033

出　　处：《舰船科学技术》2010年第9期31-34,38,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(50977090)

摘　　要：探讨了机器人在船舶钢甲板表面蠕动爬行的电磁吸附机理,设计了蠕动爬行机器人的机械结构,研制了机器人蠕动爬行控制器系统,介绍了船舶吸附式蠕动探测维修机器人原理样机。该机器人可背负电视探头与机械手等功能装置,在竖直、倒置和倾斜的船舶钢甲板表面蠕动爬行。加装2自由度视频、超声探头和多自由度喷涂(或维修)机械手,可对舰船甲板表面进行喷涂(或探测与维修)。机器人载体尺寸561 mm×90 mm×50 mm,总重7.5 kg,共分2节,第1节长223 mm,第2节长258 mm,2节连接杆长80 mm。The adsorption principle by electromagnetism of crawl robot on steel deck of vessel is discussed.The mechanism of crawl robot is designed.A crawl robot control system is developed.A sample of adsorptive crawl robot for detecting and repairing on vessel is manufactured finally.It can crawl on upright,inversion and oblique steel deck of vessel carrying TV sensor and manipulator.Loading 2 liberty degree video frequency,surpass the sound detector and many liberty degree flame plating machine hand,can deck carries out a flame plating on ships and warships outside.561 mm×90 mm×50 mm,put the robot carrier dimension together highly valuing 7.5 kg.It has two parts,the length is 223 mm of the first part and 258 mm of the second,the connecting rod is 80 mm long.

关 键 词：吸附式 蠕动爬行 探测维修机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]