摘要
设计了一种车载式自动除锈喷涂装置,可以完成远程操控的重复作业,代替传统的人工除锈喷涂工作。在研究中将高空作业车与末端机械臂结合为一种具有12个自由度的串联机构,高空作业车作为粗定位机构,机械臂作为执行机构。采用D-H法给出机构数学模型,完成机构正解分析,利用预设粗定位机构关节角度的方法完成冗余机器人反解计算。利用Multibody建立车载式自动除锈喷涂装置仿真模型,通过对整体工作流程的仿真对比验证了运动学模型的准确性与整体工作方案的可行性。最后设计了车载式自动除锈喷涂装置的实验样机,预设了两种粗定位机构的位姿,完成样机实验,验证了车载式自动除锈喷涂装置代替人工完成除锈工作的可行性。
A kind of vehicle mounted automatic derusting and spraying device was designed which can complete the repetitive operation of remote control and replace the traditional manual derusting and spraying work.In the research,the high altitude work vehicle and the end manipulator were combined into a series mechanism with 12 degrees of freedom.The high altitude work vehicle as the coarse positioning mechanism,and the manipulator as the executive mechanism.The D-H method was used to give the mathematical model of the mechanism,the forward solution of the mechanism was analyzed,and the inverse solution of the redundant robot was calculated by presetting the joint Angle of the mechanism.The simulation model of vehicle automatic rust removal spraying device was established by using Multibody,and the accuracy of kinematic model and feasibility of the whole working scheme were verified by comparing the simulation of the whole working process.Finally,an experimental prototype of the vehicle-mounted automatic rust removal spraying device was designed,and the position and posture of two coarse positioning mechanisms were preset.The feasibility of the vehicle-mounted automatic rust removal spraying device replacing manual rust removal was verified by the prototype experiment.
作者
李风
黄志宏
张瑾
张强
LI Feng;HUANG Zhihong;ZHANG Jin;ZHANG Qiang(SINOPEC Technology Inspection Center of Shengli Oilfield,Shandong Dongying 257000,China;SINOPEC Shengli Oilfield Testing and Evaluation Research Co.,Ltd.,Shandong Dongying 257000,China;Shengli Oilfield Branch of SINOPEC,Shandong Dongying 257000,China;College of Mechanical and Electronic Engineering,China University of Petroleum,Shandong Qingdao 266580,China)
出处
《机械设计与制造》
北大核心
2025年第12期299-304,共6页
Machinery Design & Manufacture
关键词
除锈喷涂
运动学分析
建模仿真
样机实验
Derusting and Spraying
Kinematics Analysis
Modeling and Simulation
Prototype Experiment
