船用环保型爬壁喷漆机器人的设计及应用  

Design and Application of Eco-Friendly Ship Wall-Climbing Painting Robot

作　　者：王冲[1] 黄林[1] 鲁夏阳 熊元元 陈东 WANG Chong;HUANG Lin;LU Xiayang;XIONG Yuanyuan;CHEN Dong(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Zhoushan COSCO Shipping Heavy Industry Co.,Ltd.,Zhoushan 316131,Zhejiang,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]舟山中远海运重工有限公司,浙江舟山316131

出　　处：《船舶工程》2024年第6期157-162,共6页Ship Engineering

基　　金：广西重大科技专项桂科(AA23062037)。

摘　　要：为提升船舶外板的喷涂作业效率,解决喷涂过程中因漆雾和挥发性有机化合物(VOCs)的产生而造成环境污染的问题,设计一种自带VOCs和漆雾回收模块的爬壁式喷漆机器人。介绍该爬壁式喷漆机器人的结构和工作原理并对其进行受力分析,防止机器人作业过程中发生打滑和倾覆的失效形式,同时采用Maxwell软件针对永磁体与工作壁面之间的间隙大小对吸附力的影响进行仿真分析。通过Adams虚拟样机仿真软件分析并制作该型机器人样机,开展验证试验。结果表明,该爬壁式喷漆机器人能以稳定姿态在船舶外板上喷漆作业,具有VOCs和漆雾回收功能。A wall-climbing painting robot with volatile organic compounds(VOCs)and paint mist recovery module has been designed to address the low efficiency of painting operations on the ship's outer hull in the current shipyard,as well as the environmental issues caused by the generation of paint mist and VOCs.This article provides a detailed introduction to the structure and working principle of the wall-climbing painting robot.To prevent failures such as slipping and overturning during robot operations,a force analysis is conducted.The influence of the gap size between the permanent magnet and the working wall on the adhesion force is simulated and analyzed using Maxwell software.Finally,virtual prototyping simulation using Adams software and physical prototyping experiments are performed to demonstrate that the robot can perform stable painting operations on the ship's outer hull.The feasibility of the wall-climbing painting robot is validated,along with its VOCs and paintmist recovery capabilities.

关 键 词：爬壁式喷漆机器人 挥发性有机化合物回收 永磁吸附 

分 类 号：U671.99[交通运输工程—船舶及航道工程]