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针对石化、炼化厂大量应用的加热炉内竖直联排管的检测,设计了一种管外爬行机构,此机构能够解决细长管小间隙单向排布检测难题;机器人的行走系统采用单驱动轮式行走方式,利用剪刀手抱紧结构能够适应50~90 mm以内的管径变化。列出了该机器人动力学分析方程;并得出了最佳主驱动轮与主夹紧轮中心连线和水平线的夹角α范围;该爬行系统具有防偏、管径适应调节、结构简单等优点。
Aimed at the detection of the vertical tube in heating furnace, which is widely used in petrochemical and petrochemical plants, a creeping mechanism outside the tube was designed. This mechanism can solve the problem of detection of the small gap in one-way arrangement of slender tube. The robot’s walking system Single-drive wheeled walking mode, the use of scissors hand-tight structure can adapt to changes within the diameter of 50 ~ 90 mm. The equations of robot dynamic analysis are listed. The range of the included angle α between the line connecting the main driving wheel and the main clamping wheel is obtained. The creeping system has the advantages of anti-deflection, adjustable pipe diameter and simple structure advantage.