应用于锅炉检测机器人的一种新型复合车轮  

A Novel Compound Wheel Applied in Boiler Detecting Robot

作　　者：于会涛[1] 马培荪[1] 曹冲振[1] 何冬青[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《上海交通大学学报》2006年第3期444-447,共4页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(2002AA420080)

摘　　要：为了使检测机器人能够在具有螺旋型鳍片的锅炉热交换器承压管道表面上行走,设计了一种新型的复合车轮.该复合车轮由2个链轮和多个鼓形小轮复合组成,能实现平行于管道方向和垂直于管道方向的移动.同时,对鼓形小轮的共轭轮廓曲线及其圆弧轮廓曲线进行了讨论,并对圆弧轮廓曲线的误差进行了分析.结果表明,采用圆弧轮廓的鼓形小轮可以满足检测要求.To realize the moving of a detecting robot on the surface of heat exchanger bearing pipes in a boiler with spiral radiators around the pipes,a novel kind of compound wheel was developed. The compound wheel is composed of two sprocket wheels and several small drum-like wheels. They can make the robot move in the direction parallel with or vertical to the pipe. The conjugate outline curve and the circlearc outline curve of the drum-like wheels were discussed. And the error of the circle-arc outline curve was also analyzed. The results indicate that the drum-like small wheels with circle-arc outline satisfg the detecting requirement.

关 键 词：机器人 复合车轮 管道检测 锅炉 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]