罐车爬壁射流清洗小车力学特性分析

Analysis of Mechanical Behavior of Wall climbing Jet Cleaning Trolley for Tank Car

设计了一种罐车爬壁射流清洗小车,建立了这一清洗小车的静力学和动力学模型,并分析了这一清洗小车在沿壁面下滑、纵向倾覆、横向翻转三种工况下的静力学特性,以及在直线行驶、差速转向两种工况下的动力学特性。分析结果表明,罐车爬壁射流清洗小车最易发生吸附失稳的工况为沿壁面下滑,最易发生行驶失稳的工况为差速转向,可靠附壁的最小吸附力为51.69 N,稳定运行时的最小驱动力矩为3.24 N·m。

A wall climbing jet cleaning trolley for the tank car was designed,and the statics and dynamics model of the cleaning trolley was established.The static characteristics of this cleaning trolley under three working conditions i.e.sliding down along the wall,longitudinal overturning and lateral turnover,and the dynamic characteristics of two working conditions i.e.straight driving and differential steering were analyzed.The analytic results show that the most prone to adsorption failure of the wall climbing jet cleaning trolley for the tank car is sliding down along the wall,and the most prone to driving failure is differential steering.The minimum adsorption force for reliable wall attachment is 51.69 N,and the minimum driving torque for stable operation is 3.24 N·m.