一种车载式船舶除锈机器人及超高压系统设计.pdfVIP

机 床 与 液 压 Dec．2O12 HydromechatroniesEngineering Ve1．40 No．24 DOI：10．3969／j．issn．1001-3881．2012．24．021 DesignofIn—vehicularShipRustRemovalRobot andUltra—highPressureSystem SUNLing ，GONGYongjun ，ZHANGZengmeng，WANGZuwen InstituteOfShippingElectromechanicsEquipment，DalianMaritimeUniversity，Dalian116026，China Abstract：Tosolveinconvenienceofshiprustremovalmove，designakindofvehicularultra。high pressurewaterjetshiprustremovalequipment，analysethedrivesystemandstressforrobot， givethemethodofchoosethemagnetsandairmotors，presentresentsthedesignparametersof thewholesystem，andanalysethehighpressurepumpsystem，vacuum recoverysystem andair supplysystem andtheprincipleofsystem control，aswellasgivetheformulaofprocessturning radiusofsteeringrobotinturning，inordertocontroltherobottowalk． Keywords：vehicular，shiprustremovalrobot，ultra—highpressure，vacuum recovery，kinematics analysis paredwithtraditionalmethodsofurst，ithasthead 1．Introduction vantagesofnullenvironmentalpollution，high effi— ciency，non-corrosivemetal，waterconservation and China istheworld’sfirstshipbuilderwhose soon．Thesystem islarge irlsizeand themainte— shipbuildingcapacityismorethan 80million tonsa nanceisinconvenient，sotherearesomedifficulties year，andtheship—repairmarketismuchlargerthan infieldoperation．Asforthat，thepaperisaboutthe shipbuildingmarket．Traditionalmethodsofshiprust designationofakindofin--vehiclehighpressurewa-- include hand scraping。mechanicalurst，chemical terjetshipurstremovalequipmentwhichismovable antiurstandsoforthf1]，butt