| 改进型管道清灰机器人系统研究 |
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| 引用本文： | 张淑珍,黄建龙,李春玲. 改进型管道清灰机器人系统研究[J]. 机械与电子, 2009, 0(12): 62-64 |
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| 作者姓名： | 张淑珍 黄建龙 李春玲 |
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| 作者单位： | 兰州理工大学数字制造技术与应用省部共建教育部重点实验室,甘肃,兰州,730050;兰州理工大学数字制造技术与应用省部共建教育部重点实验室,甘肃,兰州,730050;兰州理工大学数字制造技术与应用省部共建教育部重点实验室,甘肃,兰州,730050 |
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| 摘 要： | 在原管道清灰机器人的基础上,提出了改进型管道清灰机器人系统设计,采用三履带足的行走装置,由撑开机构带动履带足撑开或缩回从而适应管径的变化。分析了改进型管道清灰机器人工作原理,以及撑开机构和卸料机构运动特性,给出了撑开机构和卸料机构的几种特殊位置,并提出了机器人的控制方案。
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| 关 键 词： | 管道清灰机器人 系统研究 运动特性 |
Research on the Modified In-pipe Clearing Ash Robot |
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| ZHANG Shu-zhen,HUANG Jian-long,LI Chun-ling. Research on the Modified In-pipe Clearing Ash Robot[J]. Machinery & Electronics, 2009, 0(12): 62-64 |
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| Authors: | ZHANG Shu-zhen HUANG Jian-long LI Chun-ling |
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| Affiliation: | ZHANG Shu - zhen,HUANG Jian - Iong,LI Chun - ling (Key Laboratory of Digital Manufacturing Technology and Application,the Ministry of Education, Lanzhou University of Technology, Lanzhou 730050, China) |
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| Abstract: | On the basis of former in - pipe clearing robot, the project of modified in - pipe clearing ash robot with three - pedrail - foot to walk is designed. Stretched frame makes pedrail - foot stretched and retractile to adapt changing pipe diameter. Working principle of modified robot is analysed, Motion characteristic of stretched mechanism and discharge mechanism are analysed and their special positions are deduced, and the robot control project is given. |
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| Keywords: | in - pipe clearing ash robot research on system motion characteristic |
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