PGZX-1型炉管爬行机器人参数设计

PGZX-1型炉管特指管径在50 mm-90 mm,管间距在30 mm左右的直管.本设计主要针对工厂锅炉管道渗碳层厚度检测工作,提出了一种能够攀爬管柱的机器人,其不受攀爬管柱材料、变管径及变管距限制,在尺寸及重量上实现最小化.设计中以链式机械环抱机构完成机体与管柱的贴附,采用履带行进,实现运动速度均匀,探头装置以丝杠及半月板联接,可实现小角度回转,扩大探测面积.设计可行性很高,可在现阶段下完成制造工艺,投入生产应用.

Parameter Design of PGZX-1 Pipe Climbing Robot

PGZX—1 pipe is specific reference the straight pipe which pipe diameter is from 50 mm to 90 mm,and its tube spacing is 30 mm.The design mainly aims at detect the thickness of carburized layer in the factory boiler pipeline.One kind robot is proposed that can climb up the tube column,and it can climb the tube does not on the limit of column material and the variational caliber and the variational spacing of tubes.The robot will reduce the size and weight of the new robot.In the design,surrounds the organization by the chain machinery to complete organism and the tube column pastes attaches,and also uses the caterpillar band to march forward,realizes the velocity of movement to be even,the probe head installment by the guide screw and the meniscus joint,may realize the small angle rotation,and expand the survey area.The design feasibility is very high,might complete the fabrication technology under the present stage,begin to the operation and the application.