摘要
在设计爬行机器人携带检测设备对卧式换热器管子管板进行无损检测的基础上,为了保证爬行机器人结构设计的合理性、可靠性,重点针对核心受力部件爬行脚进行仿真研究,应用ANSYS Workbench仿真平台对爬行脚进行负载能力分析。结果表明随着负载的增大,其倾斜量也随之增大;进一步研究负载12kg时的状态,得到爬行机器人由于滑移失效发生倾斜,导致爬行脚和无损检测设备与管板发生碰撞无法完成检测动作;针对爬行脚的滑移失效形式,设计出三脚套的改进爬行脚,并对其进行力学结构仿真,得出在12.5kg负载下改进爬行脚仍能保持其稳定性,满足检测使用要求。
In order to ensure the rationality and reliability of crawling robot basing on designing the crawling robot carrying the detection device to complete the non-destructive testing of tube-tube sheet in horizontal heat exchanger, the core loaded part crawling foot is simulated. The ANASYS Workbench simulation platform is used to analyze the load capacity of crawling foot. The results show that the tilt displacement of crawling increases as the load increases. The further research on the state that the load is 24kg shows that the crawling foot and detection device collidethe tube sheet so that the crawling robot can＇t complete the action of testing because of slipping. The new crawling foot which has three heels is designed according to the slipping and its static structure is simulated. The result shows that the new crawling foot can keep its stability when the load is 25kg. So it meets the requirement of testing.
作者
庄俭
陈永康
张亚军
梁丽红
ZHUANG Jian;CHEN Yong-kang;ZHANG Ya-jun;LIANG Li-hong(School of Mechanical and Electronic Engineering, Beijing University of Chemical Technology, Beijing 100020, China;China Special Equipment Inspection and Research Institute, Beijing 100020, China)
出处
《机械设计与制造》
北大核心
2018年第A01期121-124,共4页
Machinery Design & Manufacture
基金
国家重大科学仪器设备开发专项(2013YQ240803)
关键词
换热器管子管板
无损检测
爬行机器人
爬行脚
失效形式
Heat Exchanger Tube-Tube Sheet
Non-Destructive Testing
Crawling Robot
Crawling Foot
DefectiveMode
