摘要
在原管道清灰机器人的基础上,提出了改进型管道清灰机器人系统设计,采用三履带足的行走装置,由撑开机构带动履带足撑开或缩回从而适应管径的变化.分析了改进型管道清灰机器人工作原理,以及撑开机构和卸料机构运动特性,给出了撑开机构和卸料机构的几种特殊位置,并提出了机器人的控制方案.
On the basis of former in - pipe clearing robot, the project of modified in - pipe clearing ash robot with three - pedrail - foot to walk is designed. Stretched frame makes pedrail - foot stretched and retractile to adapt changing pipe diameter. Working principle of modified robot is analysed, Motion characteristic of stretched mechanism and discharge mechanism are analysed and their special positions are deduced, and the robot control project is given.
出处
《机械与电子》
2009年第12期62-64,共3页
Machinery & Electronics
关键词
管道清灰机器人
系统研究
运动特性
in - pipe clearing ash robot
research on system
motion characteristic
