LNG船标准绝缘箱打钉机器人轨迹规划  

Trajectory Planning of Stapling Robot for Standard Insulating Box in LNG Carrier

作　　者：祁伟民 李芳[2] 屈继强 金鑫[2] 华学明[2] QI Weimin;LI Fang;QU Jiqiang;JIN Xin;HUA Xueming(Hudong-Zhonghua Shipbuilding(Group)Co.,Ltd.,Shanghai 200129,China;Shanghai Key Laboratory of Materials Laser Processing and Modification,Shanghai Jiao Tong University,Shanghai 200240,China;China Ship Power Station Co.,Ltd.,Shanghai 200129,China)

机构地区：[1]沪东中华造船(集团)有限公司,上海200129 [2]上海交通大学上海市激光制造与材料改性重点实验室,上海200240 [3]中国船舶电站设备有限公司,上海200129

出　　处：《造船技术》2021年第5期77-80,共4页

基　　金：工信部高新技术船舶科研计划“薄膜型围护系统(MARKⅢ型)材料应用研究”(编号:工信部装函[2018]473号);国家海洋经济创新发展示范项目(编号:上海市浦东新区PD-HY-009)。

摘　　要：以液化天然气(Liquefied Natural Gas,LNG)船液货围护系统中的1S型标准绝缘箱为例,分析标准绝缘箱的结构及钉子位置,设计机器人自动打钉系统,并开发机器人打钉轨迹算法,实现机器人运动轨迹的合理规划,大幅缩短现场编程时间。经实际应用,采用机器人自动打钉系统制造的标准绝缘箱质量稳定,实现标准绝缘箱的高效率、高质量制造。Taken the 1S standard insulating box in liquid cargo containment system of Liquefied Natural Gas(LNG)carrier for example,the structure and staple position of standard insulating box are analyzed,the robot automatic stapling system is designed,and the robot stapling trajectory algorithm is developed,so as to realize the reasonable planning of robot motion trajectory and greatly shorten the field programming time.Through the practical application,the standard insulating box made by the robot automatic stapling system is stable in the quality to realize the high-efficiency and high-quality manufacturing of standard insulating box.

关 键 词：LNG船 标准绝缘箱 打钉机器人 自动打钉 轨迹规划 

分 类 号：U674.133.3[交通运输工程—船舶及航道工程]