摘要
详细分析了大型船用坞内外板涂装机器人(SRSSPD)在坞内生产中的特殊作业环境、功能要求,探讨了其工作原理及技术指标.系统梳理了国外基于爬壁、框架、高架搭载方式的SRSSPD及与其性能相关的大型预处理打磨和除锈机器人的技术特点和问题,并对国外典型SRSSPD的研究现状进行了对比分析.从船厂用户角度,系统论述了国内SRSSPD的研究进展.重点分析了SRSSPD研究的基本要求、研究难点、可能的困难以及关键技术.最后,对未来发展趋势进行了展望.
The operational environments and functional requirements of large Spraying Robot for Ship Shell Plate in Dock(SRSSPD) are analyzed,and the working principle and technical indexes are discussed.Then the technical features and existing problems of abroad SRSSPDs based on wall-climbing,frame and elevated boarding,and related large pretreatment buffing and rust removal robots are summarized,and the current research of typical abroad SRSSPDs is analyzed and compared.From the view of shipyard users,the research progress of domestic SRSSPDs is summarized.The basic requirements,research difficulties,possible difficulties and key technologies are mainly analyzed.Finally,the future research directions of SRSSPD are explored.
出处
《机器人》
EI
CSCD
北大核心
2018年第1期115-128,共14页
Robot
基金
工业和信息化部高技术船舶科研计划(工信部联装[2014]498号)
广东省科技计划(2015B090904010
2016B090918092)
海洋可再生能源专项资金(QDME2013ZB01)
关键词
船舶坞内施工
外板涂装
除锈与打磨机器人
喷涂机器人
智能爬壁
高架补偿
ship dock construction
shell plate painting
buffing and rust removal robot
spraying robot
intelligent wall climbing
elevated compensation
