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水轮机叶片修复机器人的移动平台 总被引:2,自引:0,他引:2
设计一种具有曲面自适应功能的、用于水轮机叶片坑内修复机器人的爬壁式永磁吸附移动平台。对移动平台设计中须解决的移动灵活性和吸附能力间的矛盾及复杂空间曲面自适应问题进行分析。为解决移动和吸附的矛盾,提出永磁非接触吸附轮式移动方案。移动平台采用差动驱动的轮式移动机构,吸附力由和壁面非接触的、具有一定气隙的多个永磁吸附装置提供。各吸附装置通过具有3转动自由度的曲面自适应机构和移动机构底盘连接,这使移动平台可用于表面是复杂空间曲面的水轮机叶片表面。研制移动平台样机,试验结果表明移动平台负载能力强,超过80 kg,可原地转向,运动灵活性好,具有较好的复杂空间曲面自适应能力,能够满足水轮机叶片坑内修复的需要。 相似文献
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多体柔性永磁吸附爬壁机器人 总被引:5,自引:2,他引:3
为实现永磁间隙吸附式爬壁机器人在复杂空间曲面上的可靠吸附与灵活运动,在分析爬壁机器人复杂空间曲面运行须解决的关键问题的基础上,基于爬壁机器人的多体动力学仿真和样机试验,设计了采用多体柔性吸附系统的间隙吸附式爬壁机器人,即爬壁机器人由轮式移动机构和吸附系统组成,吸附系统安装在轮式移动机构的底盘上,且和壁面是非接触的.吸附系统由多个相互独立的吸附装置构成,每个吸附装置通过具有2转动自由度的连接机构和轮式移动机构连接,并由被动的万向滚动轮部分或完全支撑在壁面上,各吸附装置在吸附力的作用下可自调节相对于壁面的位姿.对多体柔性吸附系统的曲面适应性进行优化.仿真及试验结果表明,多体柔性吸附爬壁机器人可自适应壁面形貌和曲率的变化,它在表面是复杂空间曲面的壁面上运行时的吸附和运动性能接近在平整壁面上运行时的相应性能,吸附可靠且运动灵活. 相似文献
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针对大型承压设备轮式爬壁机器人磁轮吸附力不足的问题,对爬壁机器人磁吸附结构进行了优化设计与实验研究。通过爬壁机器人受力状态及吸附力要求的物理分析,提出了磁轮与磁桥结构相结合的磁吸附方式;利用建立的有限元仿真模型,确定了最佳永磁体长度、高度、宽度等规格参数,并研究了磁桥与容器壁面空气间隙对爬壁机器人吸附力的影响;设计磁吸附力测试装置进行了实验,然后与有限元仿真结果进行了对比。研究结果表明:该磁桥结构能够为轮式爬壁机器人提供充足的吸附力,能避免机器人爬行过程中出现的向上爬行打滑和横向爬行侧滑问题。 相似文献
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立式金属罐容积检定爬壁机器人本体设计 总被引:1,自引:0,他引:1
介绍一种用于对立式金属罐容积检定的爬壁机器人设计方案。该爬壁机器人具有永磁吸附方式组成的吸附系统和四轮驱动式的轮式移动机构,其吸附系统镶嵌在轮式移动机构的车体中,且和壁面非接触。这种设计改进了传统爬壁机器人机械结构中存在的转向困难和容易对油罐壁造成损坏的缺陷,同时对其稳定性及可靠性进行了力学分析,并对总体控制系统设计进行了说明。着重阐述了直流电机与减速器的选型以及以AT89C51微控制器为核心构成的下位机硬件控制电路和相应的软件设计方法。 相似文献
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针对修船作业中船舶壁面的除锈问题,设计了一种单纯采用永磁吸附实现附壁的履带式爬壁机器人,利用其上搭载的高压水射流装置实现除锈。首先,设计的永磁吸附单元由多块永磁体组成,采用Halbach充磁方向布置,单块磁吸附力理论接近1.4 kN;然后,机器人行走方式采用同步链传动、双链条履带结构,使永磁吸附单元可靠稳定的吸附在壁面上,链条的涨紧采用垂直涨紧和水平涨紧相结合的方式,驱动系统采用双电机驱动及锥齿换向结构,同时清污盘与框架的连接采用十字铰接式柔性设计。最后,对制造的永磁吸附单元开展力学实验,对搭建的功能性样机开展水平运动、垂直爬壁和1∶1实船模型爬壁等实验。研究结果表明:制造的单块永磁吸附单元的吸附力可达1 kN,满足机器人抗倾覆要求;功能性样机在爬壁实验中是可以可靠附壁的,同时可实现机器人的行走和转向运动,为后期工程样机积累了实验数据,为机器人进一步优化奠定了基础。 相似文献
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R. I. Nepershin 《Journal of Machinery Manufacture and Reliability》2011,40(2):140-148
A model of axisymmetric formation of a flange from a flat blank with a hole by expanding by a hard punch with a fixed flat
flange is given, taking into consideration contact friction, change of wall thickness, strengthening of material, and the
tool bending radius. Elastic, elastic-plastic and hard-plastic process stages are studied. 相似文献
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V. N. Danilov 《Russian Journal of Nondestructive Testing》2005,41(8):490-497
The influence of the pulsed operating mode on a bottom echo-signal level reflected from a plane surface of a cylindrical article is studied during variations in the article's radius. It is shown that the pulsed character of a signal smoothens this function significantly as compared to that in the previously computed continuous mode. Numerical estimates of the bottom echo signal have been made for the ultrasonic inspection of wheel-pair axles of railway vehicles. 相似文献
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广州市某冷库一台冷凝器压缩机在试压检漏时发生整体爆炸.经现场调查和对爆炸碎片、残骸的研究,分析了爆炸的过程,判断事故原因为试压工艺问题和操作不当,并给出了改进措施. 相似文献
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N. A. Kuchinskiy V. A. Baranov V. N. Duginov F. E. Zyazyulya A. S. Korenchenko A. O. Kolesnikov N. P. Kravchuk S. A. Movchan A. I. Rudenko V. S. Smirnov N. V. Khomutov V. A. Chekhovsky 《Instruments and Experimental Techniques》2014,57(5):553-557
Detector rate capability is one of the main parameters for designing a new detector for high energy physics due to the permanent rise of the beam luminosity of modern accelerators. One of the widely used detectors for particle track reconstruction is a straw-detector based on drift tubes. The rate capability of such detectors is limited by the parameters of readout electronics. The traditional method of increasing detector rate capability consists in increasing their granularity (the number of “elementary” detectors = readout channels) by reducing the straw diameter and/or by dividing the straw anode wire into two parts (for decreasing the rate per readout channel). A new method of designing straw detectors with a high rate capability is presented and tested. The method is based on dividing the straw cathode into parts and the independent readout of each part. 相似文献
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The problem of buckling of a thin elastic spherical shell inside a spherical cavity of uniformly contracting massive body is considered. This problem arises, for example, when designing pressure vessels made of composite materials with a thin metal cap layer. It is assumed that at the beginning of the compression the shell fits tightly against the wall of the cavity (to the rigid frame). An algorithm for searching the equilibrium state of the shell in the supercritical state is described. As a result of solving the problem, among other things, critical values of compressive strain and shell configuration in the supercritical state were obtained. 相似文献
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Improvement in the running-in of internal combustion engines by applying copper and antifrictional coatings to the cylinder
surface is considered. The recommended optimal conditions correspond to higher surface quality and shorter running-in. 相似文献
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I. A. Makushev A. V. Barmin V. F. Kharlamov K. M. Anufriev M. I. Bykovskii 《Instruments and Experimental Techniques》2003,46(1):121-122
The formation technique of a modulated flow of radicals in ground electronic and oscillatory states with the rise time of the radical concentration in the gas over a solid body t = 10 ms is offered. 相似文献
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I. K. Aleksandrov 《Russian Engineering Research》2014,34(4):275-276