摘要
针对定期人工清洗热媒炉炉膛污垢比较困难的状况,设计了一种在热媒炉炉膛内螺旋管壁上运动行走的爬行机器人,能自动完成清灰除尘工作。机器人设计是基于拉格朗日方程建立动力学模型以及牛顿力学建立静力学模型。在此基础上,通过算例分析完成机器人在螺旋管壁处于不同位置时机器人与管壁间能提供的最大摩擦力与实际摩擦力变化曲线绘制。对吸附兼具行走功能的磁轮进行模拟分析和优化设计,设计出磁轮最为合理的结构和尺寸参数。最后完成机器人行走运动控制部分的设计。
A pipeline-climbing robot,which could climb along the helical pipe inside the HTM furnace,was used to clean the dust automatically in order to meet the periodic cleaning requirements for the helical pipe which was hard for people to clean.The kinetic model of the robot design was established based on Lagrange＇s equation,while the statics model was established on Newtonian mechanics.On this basis,the practical and maximum friction curve was worked out through the analysis on different location of the pipeline.By using permanent magnets as the robot＇s wheels,the drive mechanism of the robot obtained a strong enough adsorption capacity besides its walking function.The structure and parameters of the wheel were designed and optimized after the magnetic force simulation and optimization,and were tested and confirmed in practical experiments.Finally the control-system on walking-function was designed and completed.
出处
《化工自动化及仪表》
CAS
北大核心
2010年第8期78-82,共5页
Control and Instruments in Chemical Industry
关键词
机器人
管壁
行走
清灰
磁轮
robot
helical-pipeline
walking function
dust cleaning
magnetic wheel
