英语翻译However,as mentioned earlier,this systemcannot be used within a closed block,as the overhead cranecannot approach the inside of the closed block.Moreover,controllers are located at the outside of the open blocks,thusthere exists a number

英语翻译However,as mentioned earlier,this systemcannot be used within a closed block,as the overhead cranecannot approach the inside of the closed block.Moreover,controllers are located at the outside of the open blocks,thusthere exists a number
英语翻译
However,as mentioned earlier,this system
cannot be used within a closed block,as the overhead crane
cannot approach the inside of the closed block.Moreover,
controllers are located at the outside of the open blocks,thus
there exists a number of cables from the outside.This gives rise to
difficulties in handling the several cables in the enclosed
structures.There are also more examples of the currently
available systems,which are a combination of a multi-axis robotic
system with an overhead crane,as described in [7,8].
Table 2C(a) shows the NC painting robot,which has been
developed by the Hitachi-Zosen shipyard in Japan [9].A 6-axis
painting robot,plus a self-driving carriage,is placed inside the
closed block using an expandable placer.However,this robotic
system requires a large access hole of size 800 Â 1600 mm2.Since
the size of the access hole is related to ship-design safety
regulations,any enlargement requires the permission of the ship’s
owner,and is almost impossible to achieve.Another serious
problem of this robotic painting system is that it cannot move
freely in the transverse direction inside an enclosed block.And,the
Industrial Automation Institute (IAI) in Spain has developed a
robotic system called ‘‘ROWER 1’’ that can be used in a closed block
[10]; the robot moves like a spider,and has four legs capable of
extending and contracting.It can move autonomously and can thus
overcome many of the welding obstacles encountered in a closed
block but it has to be disassembled into seven modules before it
can be placed into a closed block,and then re-assembled in situ.
Re-assembly takes approximately 15 min,which is long enough to
seriously affect the productivity of the system [11].
Finally,the RRX,which overcomes all the disadvantages of the
previous robots,has recently been established,and its perfor-
mances of welding and mobile functions have been verified
through field testing over a period of one year.However,points of
note are that this system is still relatively hard to handle for
placing in,and withdrawing out from the 500 Â 700 mm2 access-
hole,even though it satisfies the dimensional constraints.The
main reason for this is its relatively large size compared to the
size of human workers.
Based on previous analysis of several welding systems,the
mechanism for fully autonomous traveling,on the structures,has
resulted in the robotic system being enlarged due to its number of
joints.This has lead to the request for a compact robotic system,
small enough to be easily handled with auxiliary devices for
transportation instead of the fully autonomous traveling mechan-
ism.In addition,some requests from operators in the field are as
follows:(a) removal of the mobile function from the robotic
system to decrease its size and weight,

英语翻译However,as mentioned earlier,this systemcannot be used within a closed block,as the overhead cranecannot approach the inside of the closed block.Moreover,controllers are located at the outside of the open blocks,thusthere exists a number
如之前所提到的,该系统不能用于封闭空间,因为天车不能够到封闭空间内部,而控制人员是在外部,因此需要几根电缆通到内部,这就造成了不方便,现有几种系统可采用,是把一台多轴机器人和天车相结合,见图7,8,
目录2c（a）描述的是日本日立造船厂开发的数控喷漆机器人,是6轴喷漆机器人,能够自己行驶,用可伸缩装置放到封闭空间内部,
.然而该系统需要直径800-1600毫米的入口,这与船舶安全管理条例发生冲突,需要请示船东,船东同意的可能性不大,该喷漆机器人系统的另一个问题是在封闭空间内不能横向移动,西班牙工业机器人研究院（IAI）研发出了一种叫划船手1号的机器人系统,有4条可伸缩的腿,能够像蜘蛛一样避开封闭空间内部的焊接结构自主移动,但它需要拆解成7个部分,放入封闭空间内部然后重新组装,组装需要大约15分钟,因而影响工作进度,最近开发出来的RRX机器人系统比其他同类产品在这方面都具优势,经过一年时间的场地试验,它的焊接和移动的功能都很好,然而,尽管它能够从700毫米孔进入,还是有点困难,经过对几种机器人系统的分析,发现体积庞大的直接原因就是移动装置的关节状连接件太多,这就要求把机器人造的紧凑,便于搬运,而不是全自动行走,另外要求场地操作人员拆掉行走部件,以便减小体积和减轻重量..