基于超声原理消应力爬壁机器人的研制
Study of wall-climbing robot for stress relieving based on ultrasonic principle
投稿时间:2019-07-01  修订日期:2019-10-06
DOI:
中文关键词:  消应力  机器人  爬壁  超声
英文关键词:stress  relieving, robot, wall-climbing, ultrasonic
基金项目:
作者单位E-mail
张震 中国船舶重工集团公司第七0二研究所 zhangzhen226@126.com 
张东京 中国船舶重工集团公司第七0二研究所  
王永军 中国船舶重工集团公司第七0二研究所  
吴世海 中国船舶重工集团公司第七0二研究所  
吴国庆 中国船舶重工集团公司第七0二研究所  
吴爽 青岛东方船研深海装备结构技术有限公司  
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中文摘要:
      针对当前超声消应力现状,本文将超声消应力技术与爬壁技术、常规移动机器人技术相融合,提出了消应力爬壁机器人的概念,基于永磁吸附原理开展了消应力爬壁机器人的总体方案设计、力学分析及测试工作,研制成功消应力爬壁机器人原理样机,并以焊接试板为对象进行了示范性应用。应用结果表明,本文所研制的消应力爬壁机器人能够达到预期的应力消除效果,可以替代人工完成应力消除作业,有助于提高船舶制造过程中的自动化水平,实现智能制造,具有较高的工程应用价值。
英文摘要:
      According to the current condition of ultrasonic stress relieving, this paper presents a new idea of climbing robot for stress relieving, and the overall scheme design, mechanical analysis and functional test were carried out based on magnetic adhesion principle. A prototype robot was developed successfully and the model application was carried out . The application shows that the wall-climbing robot can reach the expected effect without human intervention, and help generate new levels of intelligent manufacturing, so the research results have higher project application value.
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