摘要
针对大型容器焊缝及热影响区域人工打磨存在效率低、一致性差等问题,根据打磨工艺要求对打磨过程进行了打磨效果及影响因素分析等工艺研究,基于打磨工艺的研究结果对爬壁打磨机器人进行了功能和性能需求分析,建立了总功能图和具体功能原理模型,通过对比分析各功能原理解确定了爬壁打磨机器人的结构方案,详细研究了爬壁打磨机器人的关键结构并进行了样机打磨试验。结果表明:空载转速4 000 r/min、正压力10 N为打磨工艺的最佳参数值;爬壁打磨机器人打磨效率为1.12 m2/h,打磨后壁面呈现镜面效果,粗糙度Ra≤25μm,达到了设计要求,具有较高的工程应用价值。
Aiming at the problems of low efficiency and poor consistency about artificial grinding in the wall surface weld and heat affected zone of large containers,the polishing effect and influence factors of grinding process were analyzed according to the grinding process requirements. Then the requirement analysis was based on the research result,the general function diagram and functional principle model were established. The structure scheme was designed through the comprehensive comparison of principle solution to general function. The key structure of the wall climbing robot was researched in detail and the grind experiments was carried out. The results indicate that when the no-load speed is 4 000 r/min and positive pressure is 10 N,the polishing process achieve the best; the grinding efficiency of the robot is 1. 12 m2/h,the polished wall has mirror effect and the roughness Ra is less than 25 μm which have meet the design requirements,this research have high engineering application value.
作者
叶宇峰
夏立
项智
蔡刚毅
潘柏松
YE Yu-feng XIA Li XIANG Zhi CAI Gang-yi PAN Bai-song(Zhejiang Province Special Equipment Inspection and Research Institute, Hangzhou 310020, China College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China)
出处
《机电工程》
CAS
2017年第2期119-124,共6页
Journal of Mechanical & Electrical Engineering
关键词
爬壁机器人
大型压力容器
打磨工艺
打磨效果
结构方案
wall-climbing robots
large pressurized vessel
grinding process
grinding effect
structural scheme
