一种履带油罐清洗机器人的越障过程分析  

Analysis of Obstacle Jumping Process of a Crawler Oil Tank Cleaning Robot

作　　者：奚旺 王佳楠 王哲 XI Wang;WANG Jianan;WANG Zhe(Dalian Research Institute of Petroleum and Petrochemicals,SINOPEC,Dalian Liaoning 116045,China;NANYANG XIN-CHENG AERIAL DEVICES CO,LTD,Nanyang Henan 473000,China)

机构地区：[1]中国石化大连石油化工研究院,辽宁大连116045 [2]南阳新成高架设备有限公司,河南南阳473000

出　　处：《装备制造技术》2021年第12期82-86,共5页Equipment Manufacturing Technology

基　　金：中国石油化工集团公司资助项目“储油罐底板智能清理技术及装备研发”(319009-3)。

摘　　要：设计一种用于油罐清洗的履带机器人。构建履带油罐清洗机器人整体运行环境物理模型,对履带机器人越障过程进行静力分析,得到履带机器人越障过程中力学关系。同时完成整个履带机器人模型构建,在ADAMS环境下模拟并对主动轮速度、履带机器人整体速度、履带机器人和主动轮速度对比以及主动轮转矩进行分析。结果表明履带机器人运行平稳,在越障过程中抓地力、加速和刹车表现能力较好。This paper designed a crawler robot for oil tank cleaning.The physical model of the overall operating environ-ment of the crawler tank cleaning robot was built.The static analysis of obstacle jumping process of the crawler robot was carried out,and the mechanical relationship of the crawler robot is obtained.At the same time,the whole crawler robot model was built,the simulation was carried out in ADAMS environment and the driving wheel speed,the overall speed of the crawler robot,the speed comparison between the crawler robot and the driving wheel,and the driving wheel torque were analyzed.The results show that the crawler robot runs smoothly and has good performance of grip,accelera-tion and braking in the process of obstacle jumping process.

关 键 词：履带机器人 越障过程 静力分析 ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化]