基于超声原理消应力爬壁机器人的研制  

Study and Manufacture of Wall-climbing Robot for Stress Relieving Based on Ultrasonic Principle

作　　者：张震[1] 张东京 王永军[1] 吴世海[1] 吴国庆[1] 吴爽 ZHANG Zhen;ZHANG Dongjing;WANG Yongjun;WU Shihai;WU Guoqing;WU Shuang(China Ship Science Research Center,Jiangsu Wuxi 214082,China;Qingdao Oriental Ship Research Deep Sea Equipment Structure Technology Co.,Ltd.,Shandong Qingdao 266520,China)

机构地区：[1]中国船舶科学研究中心,江苏无锡214082 [2]青岛东方船研深海装备结构技术有限公司,山东青岛266520

出　　处：《船舶工程》2020年第6期6-10,54,共6页Ship Engineering

摘　　要：针对当前超声消应力现状,文章将超声消应力技术与爬壁技术、常规移动机器人技术相融合,提出消应力爬壁机器人的概念,基于永磁吸附原理开展消应力爬壁机器人的总体方案设计、力学分析和测试工作,研制成功消应力爬壁机器人原理样机,并以焊接试板为对象进行了示范性应用。应用结果表明,研制的消应力爬壁机器人能够达到预期的应力消除效果,可替代人工完成应力消除作业,有助于提高船舶制造过程中的自动化水平,具有较高的工程应用价值。According to the current condition of ultrasonic stress relieving,the paper presents a new idea of climbing robot for stress relieving combining with ultrasonic stress relieving technology and conventional moving robot technology.The overall scheme design,mechanical analysis and test work of stress relieving wall-climbing robot are carried out based on magnetic adhesion principle.A prototype robot of stress relieving robot is developed successfully and applied to welding test plate as an example.The application result shows that the wall-climbing robot can reach the expected effect of stress relieving which can replace the stress relieving work by man.It helps to raise the automatic level during the ship manufacture process.It has high engineering application value.

关 键 词：超声 消应力 爬壁机器人 

分 类 号：U673.38[交通运输工程—船舶及航道工程]