大容量径向偏差测量机器人装置的研制与应用-油气储运.PDF

投产与运行 1000-8241 2015 ××-××××-6.5 文章编号： （ ） 大容量径向偏差测量机器人装置的研制与应用 1 1 1 1 1 2 刘瑛　陈贤雷　郝华东　郑国祥　施浩磊　许玉亮 1. 舟山市质量技术监督检测研究院，浙江舟山316021；2. 国家大容量第二计量站，山西运城044000 摘要：针对大容量计量光学垂准线法存在的人工劳动强度大、危险系数高、准确度低等缺陷，结合爬 壁机器人的研究现状，从机械结构、控制机构与软件设计3 方面开展了大容量径向偏差测量机器人 装置的研究。在机械结构方面着重开展了吸附机构、驱动机构、传动机构、跨越机构、传感机构的设 计研究。研制出的大容量径向偏差测量机器人装置样机已应用于立式金属罐容量的计量工作，测 量结果表明：该装置在保证测量准确度的同时，提高了工作的安全性，降低了人工劳动强度。（图5， 表3，参10 ） 关键词：立式金属罐；大容量计量；径向偏差；光学垂准线法；机器人 中图分类号：TE978　　　　 文献标识码：A　　　　 doi ：10.6047/j .issn.1000-824 1.2015.×× ××× . Development and application of high-capacity radial deviation metering robot 1 1 1 1 1 2 LIU Ying , CHEN Xianlei , HAO Huadong , ZHENG Guoxiang , SHI Haolei , XU Yuliang 1. Zhoushan Institute of Calibration and Testing for Quality and Technology Supervision, Zhoushan, Zhejiang, 316021; 2. No.2 National High-capacity Metrology Station, Yuncheng, Shanxi, 044000 Abstract: Since optical reference line method for high-capacity metrology are characterized by high work intensity, significant risk factors, low accuracies and other drawbacks, and with consideration to currently available technologies related to wall-climbing robots, researches include compositions of mechanical structure, control mechanism and software design are conducted for development of high-capacity radial deviation metering robot. As far as mechanical structures are concerned, researches are perf