油罐检测爬壁机器人结构设计说明书.pdfVIP

油罐检测爬壁机器人结构设计 摘要：弧面机器人是移动机器人领域的一个重要分支,它是地面移动机器人 结合吸附技术。它可以连接到垂直墙爬行,和携带工具来完成特定的任务大大扩 大了机器人的应用范围。 本文检测大型油罐的墙上攀爬机器人结构设计。机器人能爬在水箱表面灵活, 并携带油箱超声波探头的超声波探伤。文章首先总结了国内外现有的弧面机器人 在一些攀爬机构画出设计的文献,然后选择最好的解决方案进行比较。计划制定 后,电机、传输和安装、定位和其他设计计算。主要做以下工作: 首先,概述弧面机器人及其相关领域的现状和未来的发展方向。弧面机器人 的总体结构设计,选择和分析墙上攀爬机器人的吸附方式,并阐述了每个磁路着 重好的和坏点。确定最后爬墙爬壁机器人的吸附方式为非接触式永磁吸附方式, 和弧面机器人的稳定性和磁性吸附吸引力关系做出了相应的分析。 其次,通过分析弧面机器人的运动模式是决定使用履带驱动模式的方式运动。 通过对电机的驱动能力、机械师、运动学,建立机器人的动力学和运动学模式。 完成后考虑,整体弧面机器人身体的机械结构设计。 关键词:弧面机器人;磁吸附; Ⅰ Tank test structure design of robot Abstract ：Wall-climbing robot is an important branch of the mobile robot field as it is the terrestrial mobile robotics combine with adsorption technology. It can be attached to the vertical wall crawling, and to carry tools to complete certain tasks in the greatly expanded scope of application of robots. This paper focuses on the detection of large oil tank wall climbing robot structure design.The robot can crawl in the tank surface flexible, and carrying the ultrasonic probe in ultrasonic flaw detection of tank. Articles start with the existing wall-climbing robot at home and abroad are summarized in the literature of several climb institutions draw the design, then select the best solution by comparing. Program laid down after the motor, transmission and installation, positioning and other design calculations. Mainly do the following works ： First, the overview of the relevant areas of wall-climbing robot and its present situation and future development direction. Designed the wall-climbing robots overall construction, chose and analyzed the wall climbing robots adsorption way, and elaborated each magnetic circuit good and bad points emphatically. Determined finally crawls the wall- climbing robots adsorption way for the non-contact