管道清灰机器人系统设计  

Design of in-pipe clearing ash robot system

作　　者：张淑珍[1] 杨萍[1] 袁晓鹏[1] 

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《机械设计与制造》2006年第8期125-127,共3页Machinery Design & Manufacture

摘　　要：提出采用履带式管道清灰机器人解决冶炼厂烟道积灰的清除方案。详细阐述了清灰机器人结构和驱动方式。从机构学角度分析了操作臂运动特性,给出了操作臂作业的几个特殊位置,分析了操作臂死点位置,提出避免死点的方法。Based on In - pipe clearing ash robot in exhaust gas pipeline of metal smeltery object, the scheme of in - pipe clearing ash robot with track to clean out ash in pipe is put forward. Configuration and driver of the robot is explained. Kinematics characteristic and several especial locations for operating arm are analyzed, as well as dead point of the mechanism and means how to keep away from it is given.

关 键 词：管道清灰 机器人 履带式 运动特性 

分 类 号：TH112.2[机械工程—机械设计及理论] TP39[自动化与计算机技术—计算机应用技术]