PGZX—1型炉管爬行机器人机械结构设计  

Mechanical Structure Design of PGZX—1 Pipe Climbing Robot

作　　者：张灵聪[1] 李浩[1] 仲于海[1] 

机构地区：[1]东北石油大学,大庆163318

出　　处：《科学技术与工程》2012年第17期4235-4239,共5页Science Technology and Engineering

摘　　要：PGZX—1型炉管特指管径在50 mm—90 mm,管间距在30 mm左右的直管。目前很多化工厂锅炉管道和热电厂加热管均属于PGZX—1型炉管。因长期受热,炉管极易产生严重的渗碳现象,需对管柱渗碳层厚度进行检测,以随时了解炉管内部渗碳情况,确保工作的稳定性及安全性。提出了一种能够攀爬管柱的机器人,这种机器人不受攀爬管柱材料和管径限制,在尺寸及重量上实现最小化。对炉管爬行工作时面临的管间距狭小,管径变动及管体变形进行了针对性设计,介绍了新型爬管机器人的原理方案,阐述了新型爬管机器人主要机械结构的设计原理。PGZX—1 pipe is specific reference the straight pipe which pipe diameter is from 50 mm to 90 mm,and its tube spacing is 30 mm.At present,most factory boiler pipes and heating pipes of thermal power plant belong to it.It is easily to have serious cementation phenomenon that heated the furnace tube for a long time,and the cementation will make the pipe wall material carbon amount to advance,thus cause the pipe wall hardening changes crisp,extremely easy to create the furnace tube break.The frequent examination to the tube column can know the furnace tube interior cementation situation,will guarantee the work more stable and more safe.One kind robot is proposed that can climb the tube column,and it can climb the tube does not on the limit of column material and the caliber.It will reduce the size and weight of the new robot.This design aimed at the problem which is that the tube spacing is narrow and small,the caliber change and the body distortion we faced while we do the work of tube crawling.The robot＇s principle plan,and elaborated the design of the new crawl robot primary mechanical structure principle are introduced.

关 键 词：炉管 机器人 爬行 检测 

分 类 号：TH122[机械工程—机械设计及理论]