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设计了一种针对竖直管道,依靠履带运动的PGZX-1型炉管爬行机器人,该机器人主要应用于加热炉炉管检测,可解决细长管小间隙单向排布管群检测难题。本文着重研究机器人履带行走装置,首先运用SolidWorks进行机体建模,再通过ADAMS进行仿真分析,利用宏命令添加约束及载荷,对履带块与带轮、管柱之间的压力、速度和加速度等进行仿真,分析了履带爬行的特点,明确履带受力情况及运动状态,并得出相应曲线,为履带式机器人爬升竖直管道的研究提供参考依据。
A PGZX-1 tube crawler robot is designed for vertical pipeline and crawler movement. The robot is mainly used for furnace tube detection, which can solve the problem of small gap unidirectional tube group detection. This paper focuses on robot crawler walking device, first of all, the use of SolidWorks for body modeling, and then through the ADAMS simulation analysis, the use of macro commands to add constraints and loads on the crawler and pulley, the pressure between the column, speed and acceleration Simulation and analysis of the characteristics of crawler crawling, crawling force and a clear state of movement, and draw the corresponding curve for crawler climbing vertical pipe to provide a reference for the study.