The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside s...The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.展开更多
The change of bubbles and the position of the tuyere in an oxygen coal combustion melting and separating furnace affect the flow and splash behavior of the molten pool.To analyze this problem further,a three-dimension...The change of bubbles and the position of the tuyere in an oxygen coal combustion melting and separating furnace affect the flow and splash behavior of the molten pool.To analyze this problem further,a three-dimensional numerical simulation method was used to explore the behavior and change of the flow field inside the molten pool during double-row tuyere injection.In addition,the arrangement of the tuyere was changed for a more detailed understanding of the internal phase distribution and splashing in a molten pool.The results indicated that under three-dimensional numerical simulation conditions,bubbles rise after leaving the tuyere and break on the surface of the molten pool,which results in certain fluctuations in the nearby melt.During the injection process of the tuyere,the meteorological accumulation in the middle part of the molten pool formed part of the foam slag because of the influence of surface tension.When the layout of the upper and lower exhaust tuyeres was changed from staggered to symmetrical,or when the spacing of the upper and lower exhaust tuyeres changed,it had an effect on the phase distribution and splash behavior.展开更多
基金Supported by National High TechR&DProgramin China!( 86 3 5 1 2 970 4 2 6 86 3 5 1 2 980 4 1 8)
文摘The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
基金supported by the National Key R&D Program of China(2017YFB0603800 and 2017YFB0603802).
文摘The change of bubbles and the position of the tuyere in an oxygen coal combustion melting and separating furnace affect the flow and splash behavior of the molten pool.To analyze this problem further,a three-dimensional numerical simulation method was used to explore the behavior and change of the flow field inside the molten pool during double-row tuyere injection.In addition,the arrangement of the tuyere was changed for a more detailed understanding of the internal phase distribution and splashing in a molten pool.The results indicated that under three-dimensional numerical simulation conditions,bubbles rise after leaving the tuyere and break on the surface of the molten pool,which results in certain fluctuations in the nearby melt.During the injection process of the tuyere,the meteorological accumulation in the middle part of the molten pool formed part of the foam slag because of the influence of surface tension.When the layout of the upper and lower exhaust tuyeres was changed from staggered to symmetrical,or when the spacing of the upper and lower exhaust tuyeres changed,it had an effect on the phase distribution and splash behavior.
