【摘要】 为了使检测机器人能够在具有螺旋型鳍片的锅炉热交换器承压管道表面上行走,设计了一种新型的复合车轮.该复合车轮由2个链轮和多个鼓形小轮复合组成,能实现平行于管道方向和垂直于管道方向的移动.同时,对鼓形小轮的共轭轮廓曲线及其圆弧轮廓曲线进行了讨论,并对圆弧轮廓曲线的误差进行了分析.结果表明,采用圆弧轮廓的鼓形小轮可以满足检测要求.更多还原

【Abstract】 To realize the moving of a detecting robot on the surface of heat exchanger bearing pipes in a boiler with spiral radiators around the pipes,a novel kind of compound wheel was developed.The compound wheel is composed of two sprocket wheels and several small drum-like wheels.They can make the robot move in the direction parallel with or vertical to the pipe.The conjugate outline curve and the circle-arc outline curve of the drum-like wheels were discussed.And the error of the circle-arc outline curve was also analyzed.The results indicate that the drum-like small wheels with circle-arc outline satisfg the detecting requirement.更多还原