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针对大容量计量光学垂准线法存在的人工劳动强度大、危险系数高、准确度低等缺陷,结合爬壁机器人的研究现状,从机械结构、控制机构与软件设计3方面开展了大容量径向偏差测量机器人装置的研究。在机械结构方面着重开展了吸附机构、驱动机构、传动机构、跨越机构、传感机构的设计研究。研制出的大容量径向偏差测量机器人装置样机已应用于立式金属罐容量的计量工作,测量结果表明:该装置在保证测量准确度的同时,提高了工作的安全性,降低了人工劳动强度。
In view of the defects of high manual labor intensity, high risk coefficient and low accuracy of the optical vertical alignment method for large-volume metering, the paper introduces the research on the mechanical structure, the control mechanism and the software design from the aspects of mechanical structure, control mechanism and software design. Research on Bias Measurement Robot Devices. Focus on the mechanical structure carried out the adsorption mechanism, drive mechanism, transmission mechanism, spanning mechanism, sensing mechanism design and research. The prototype of the large-capacity radial deviation measuring robotic device developed has been applied to the measurement of vertical metal tank capacity. The measurement results show that the device not only improves the measurement accuracy but also improves the work safety and reduces the labor intensity .