船体外壁除锈作业机器人机械结构的设计  

Design of Mechanical Structure of Rust Removal Robot for Hull Outer Wall

作　　者：卢坤媛 时艺豪 王吉岱[1] LU Kunyuan;SHI Yihao;WANG Jidai(Intelligent Manufacturing College,Qingdao Huanghai University,Qingdao 266427,China)

机构地区：[1]青岛黄海学院智能制造学院,山东青岛266427

出　　处：《电子产品可靠性与环境试验》2024年第5期57-64,共8页Electronic Product Reliability and Environmental Testing

基　　金：西海岸新区高校校长基金立项课题——大型船舶钢制壁面永磁吸附式除锈作业机器人的开发及应用(XZJJZY02);山东省属普通本科高校教师访学研修经费资助。

摘　　要：壁面爬行除锈作业机器人能够代替人工进行高空除锈工作。针对大型船舶壁面的除锈作业环境,设计了一款爬壁除锈的机械结构。对吸附方式、行走方式、驱动方式和除锈方式等进行了充分分析,并最终确定了四轮驱动、永磁吸附的爬行方式和打磨除锈的作业方式,完成了船体外壁除锈作业机器人整体机械结构的设计。利用SolidWorks软件绘制机器人零件图,进行装配,完成机器人总体的三维模型。同时对关键零件的可靠性进行了分析,并对其力学性能安全性进行了验证,该设计对于提高高空除锈工作的效率和安全性具有重要的意义。The wall crawling rust removal operation robot can take the place of people to carry out high-altitude rust removal work.Aiming at the rust removal operation environment of large ship walls,a mechanical structure for wall climbing and rust removal is designed.The adsorption mode,walking mode,drive mode and rust removal mode are fully analyzed,and the crawling mode of four-wheel drive,permanent magnet adsorption and polishing and rust removal operation mode are finally determined,and the overall mechanical structure of the robot for rust removal on the outer wall of the ship is completed.SolidWorks software is used to draw robot parts and assemble them to complete a 3D model of the overall robot.At the same time,the reliability of key parts is analyzed,and the safety of their mechanical properties is verified.The design is of great significance for improving the efficiency and safety of high altitude rust removal.

关 键 词：除锈机器人 机械结构 吸附方式 行走方式 驱动方式 除锈方式 力学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]