承压管道外检测机器人行走机构设计

Design of moving mechanism of inspection in robot for outer surface of bearing pipe

介绍了一种应用于外部具有螺旋型鳍片锅炉热交换器承压管道外的全方位检测机器人。文中提出一种新型的用于实现X-Y移动的复合车轮,基于滑轨式的环型导线避绕布置方式,少输出端口控制多电机的节能电机控制方式。该机器人设置了转动平台以实现X-Y方向运动的机构以及刚柔转换的检测机械手。这里对机器人行进中的稳定性及检测机械手的适应性进行了探讨。

A novel robot is described in this paper.The robot can be used to inpsect the outer surface of bearing pipes in boiler heat exchanger although there are spirality radiator around the pipes and the pipes are arranged in cuboid.some unique characteristic of this robot as follows is discussed in detail:A compound wheel that can move in both X and Y direction without turning mechanism,wire arranging methods of ring mode that can avoid twisting between wires,power saving motor control methods of controlling multi-motor through less port,a X-Y moving realized through rotating mechanism and inspection arm that change between rigidity and softness.The stable of robot moving and adaptability of inspection arm are also discussed in the paper.