Design and Analysis of the Outside Needle Pipe Climbing Robot

Zhang Zihua; He Fujun

doi:10.16578/j.issn.1004.2539.2016.08.014

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Design and Analysis of the Outside Needle Pipe Climbing Robot

更新时间：2022-10-20

- Design and Analysis of the Outside Needle Pipe Climbing Robot
- Vol. 40, Issue 8, Pages: 63-66(2016)
- 作者机构：
  
  1. 东北石油大学机械科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.08.014
  CLC：
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[1]张子华,何富君.针对联排管的管外爬行机器人设计与分析[J].机械传动,2016,40(08):63-66.

Zhang Zihua, He Fujun. Design and Analysis of the Outside Needle Pipe Climbing Robot. [J]. 40(8):63-66(2016)
[1]张子华,何富君.针对联排管的管外爬行机器人设计与分析[J].机械传动,2016,40(08):63-66. DOI： 10.16578/j.issn.1004.2539.2016.08.014.

Zhang Zihua, He Fujun. Design and Analysis of the Outside Needle Pipe Climbing Robot. [J]. 40(8):63-66(2016) DOI： 10.16578/j.issn.1004.2539.2016.08.014.

摘要

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50,9,0 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。

Abstract

In order to detect the large application of heating vertical needle pipe using in petrochemical,refinery industry,a kind of crawling mechanism which can solve the slender and needle pipes measurement is designed. A single driven wheel to stick on the way is used in the robot walking system,a pair of scissors hand structure is applied to adapt the change of pipe diameter between 50 ,90 mm. The dynamics analysis equation of the robot is listed,the best range of angle α between the center line and the horizontal line of the main driving wheel and the main wheel is obtained,the crawling system has the advantages of anti deviation,adjusting the different pipe diameter and the structure is simple.

关键词

管道机器人爬管管径适应

Keywords

PipeRobotCrawling pipPipe diameter adaptation

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