面向大型构件的龙门式喷砂机器人系统  

Gantry sandblasting robot system for large components

作　　者：琚凯征 陈再玉 赵连玉[1,2] 王巨涛[1,2] JU Kaizheng;CHEN Zaiyu;ZHAO Lianyu;WANG Jutao(Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrcial Engineering Education,Tianjin University of Technology,Tianjin 300384,China;Offshore Oil Engineering Co.,Ltd.Special Equipment Company,Tianjin 300461,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]海洋石油工程股份有限公司特种装备公司,天津300461

出　　处：《天津理工大学学报》2021年第4期10-15,共6页Journal of Tianjin University of Technology

基　　金：天津市科技计划项目(18ZXZNGX00360)。

摘　　要：针对国内外喷砂机器人的现状,研制出一种面对大型构件的新型龙门式喷砂机器人。重点阐述了结构的整体结构和局部的关键结构,独特的结构能够令其在恶劣环境中自主喷砂任务完成。并对其关键零部件进行静力学分析,进行了喷砂小车的结构优化,同时对喷砂枪的轨迹进行运动学分析,验证方案的可行性。A new gantry sandblasting robot for large components was developed. This paper describes the overall structure of the structure and the local key structure. At the same time, the statics analysis and kinematics analysis of the key components are carried out to verify the feasibility of the scheme.

关 键 词：龙门 喷砂除锈 仿真 

分 类 号：TH12[机械工程—机械设计及理论]