摘要:探讨了机器人在船舶钢甲板表面蠕动爬行的电磁吸附机理,设计了蠕动爬行
机器人的机械结构,研
制了机器人蠕动爬行控制器系统,介绍了船舶吸附式蠕动探测维修机器人原理样
机.该机器人可背负电视探头与机
械手等功能装置,在竖直,倒置和倾斜的船舶钢甲板表面蠕动爬行.加装 2 自由度
视频,超声探头和多自由度喷涂
(或维修)机械手,可对舰船甲板表面进行喷涂(或探测与维修).机器人载体尺寸
561mm×90film×50mwl,总重
7.5kg,共分 2 节,第 1 节长 223mill,第 2 节长 258mm,2 节连接杆长 80mm.
关键词:吸附式;蠕动爬行;探测维修机器人
中图分类号:TP242.6 文献标识码:A
文 章 编
号:1672—7649(2010)09—0031—04DoI:10.3404/j.issn.1672—7649.2010.09.007
Adesignandimplementationofadsorptivecrawlandspeelingrobotfor
detectingandrepairingonvessel
JIANGHang,rANGXiao—fei,JIANGHan?hong
(1.DepartmentofElectronicScienceandTechnology,HuazhongUniversityofScienceand
Technology,
Wuhan430074,China;2.SchoolofElectricalandInformationEnginering,NavalUniversity
ofEngineering,Wuhan430033,China)
Abstract:Theadsorptionprinciplebyelectromagnetismofcrawlrobotonsteeldeckofvesseli
s
discussed.Themechanismofcrawlrobotisdesigned.Acrawlrobotcontrolsystemisdevelop
ed.Asample
ofadsorptivecrawlrobotfordetectingandrepairingonvesselismanufacturedfinally.Itcancr
awlon
upright,inversionandobliquesteeldeckofvesselcarryingTVsensorandmanipulator.Loadi
ng2liberty
degreevideofrequency,surpassthesounddetectorandmanylibertydegreeflameplatingmac
hinehand,can