| 林焰,衣正尧,李玉平,纪卓尚,裴斐,李冰.一种坞内船体外板喷涂新方法研究[J].,2018,58(1):43-49 |
| 一种坞内船体外板喷涂新方法研究 |
| Research on new method for ship shell plate spraying in dock |
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| DOI：10.7511/dllgxb201801007 |
| 中文关键词: 坞内船体外板喷涂 爬壁机器人 船体大直面 艉框架曲面 工艺分析 轨迹控制 |
| 英文关键词: ship shell plate spraying in dock wall climbing robot hull large vertical face stern frame curved surface process analysis trajectory control |
| 基金项目:工业和信息化部高技术船舶科研计划资助项目(工信部联装[2014]498号)；大连理工大学工业装备结构分析国家重点实验室专项经费资助项目(S15205)；海洋可再生能源专项资金资助项目(QDME2013ZB01)；广东省科技计划资助项目(2016B090918092). |
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| 中文摘要: |
| 以某船厂实际工艺为案例，分析了船舶岸壁坞内外板喷涂作业现状，探讨了基于国内外爬壁机器人技术的坞内船体外板喷涂的成套设计策略构想，包括成套系统设计、爬壁机器人设计、可行性设计思想．最后，应用某船厂实际算例，对参数指标、机器人本体设计、射流及漆雾回收设计、自动控制及轨迹规划设计、防坠防刮碰安全设计等方面进行了新方法研讨．研究表明，此种坞内船体外板喷涂新方法研究可行． |
| 英文摘要: |
| Starting with comparative analysis of domestic and foreign wall climbing robot technology in dock, and the case based on a shipyard, the present situation of ship shell plate spraying in dock is analyzed in detail. Then the package design strategies of ship shell plate spraying in dock using wall climbing robot including package design principle, design principle of wall climbing robot, and feasible design idea are discussed. Finally, a new method for ship shell plate spraying in dock like parameter index, robot body design, jet and paint mist recovery, automatic control and trajectory planning, anti-falling and anti-scratching safety design are researched based on shipyard case. The research shows that the new method for ship shell plate spraying in dock is feasible. |
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