锅炉热交换器承压管管外检测机器人末端执行器的研究  

Study on robot's end-executor for outer surface inspection of pressure containing pipe in heat exchanger of boiler

作　　者：王光荣[1] 高雪官[1] 马培荪[1] 鲁守银[1] 

机构地区：[1]上海交通大学机械工程学院,上海200030

出　　处：《机械设计》2003年第6期20-23,共4页Journal of Machine Design

基　　金：863课题基金资助项目 ( 2 0 0 2AA4 2 0 0 80 );济南市科技发展计划以及山东省中青年科学家奖励基金资助项目

摘　　要：介绍了一种适用于火电站锅炉承压管管道外检测机器人的新型柔性臂及其定位机构 ,该柔性臂占用体积小 ,工作空间大 ,能够深入到管道组细长缝隙内检测 ,它的最大特点是能够进行刚柔转化 ,详细叙述了其转换原理 ,建立了柔性臂各关节的力学模型 ;定位机构提高了柔性臂的稳定性 ,为安装各种检测设备提供了一个可靠的操作平台 ,对该机构的可行性、工作原理和避障能力进行了分析 。A kind of new typed flexible arm and its positioning mec han ism suitable for robot employed in outer surface inspection of pressure containi ng pipe in boiler of steam power plant were introduced.This flexible arm occupie s less volume,large working space and can make inspection through long and narro w gaps among pipelines with a great characteristic of carrying out transformatio n between rigidity and flexibility.Its principle of trans formation has been de scribed in detail and the mechanics model for each joint of flexibl e arm has been established.The stability of flexiblearm was enhanced by positio ning mechanism thus provided a reliable opteration platform for the installation of various inspection facilities.Analyses have been carried out on the feasibil ity,working principle and ability of avoiding obstacles of this mechanism and li ke this a theoretical basis is provided for its design and control.

关 键 词：锅炉 热交换器承压管 火电站 管外检测机器人 末端执行器 柔性臂 定位机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM621.2[自动化与计算机技术—控制科学与工程]