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经典企业网站建设-轮式超声检测爬壁智能机器人

2021-04-15分享 "> 对不起,没有下一图集了!">
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摘要

在现阶段的石油化工制造行业关键的存储机器设备就是储罐,这些储罐因为风吹雨晒,和油品的腐蚀某些部位将会存在缺点,这些缺点将会致使比较严重的安全性安全事故。若选用人力检验则需要花很大活力,而且将会存在漏检等状况,且人力检验还存在一定风险性。爬壁设备人正是因为工业生产具体要求而设计方案的,爬壁设备人相比较于人力检验更加全自动化,且精准度也比人力检验高,针对缺点的检验更完全。

考虑到到工业生产具体自然环境,该设备人一般检验金属材料类壁面,因此本次设计方案采用的吸附方法为磁吸附,行走组织为轮式,检验方法为超声波频率检验。即整体计划方案为轮式超声检验具备更高的高效率和好用性,在此整体计划方案勤奋行爬壁设备人的机械构造设计方案。

在构造设计方案上最先设计方案整体构造,随后挑选驱动器方法,传动方法并对其开展校核及电动机的选型、联轴器的选型。设计方案完之后先后开展重要部位的强度校核。传动一部分最先用SolidWorks三维手机软件创建三维实体模型,创建好后储存为中性文档,将中性文档导入ADAMS并用ADAMS开展健身运动学仿真查验重要一部分的健身运动是不是合乎预先设置,并将重要部位的健身运动主要参数列出并剖析具体健身运动状况与其是不是合乎。磁吸附一部分应用MAXWELL磁力仿真,剖析及分辨磁力是不是能使其牢固地吸附在储罐壁面上。最后完成爬壁设备人构造设计方案。

重要词:爬壁设备人;构造设计方案;健身运动仿真;磁力仿真


Abstract

At present, the main storage equipment in the petrochemical industry is storage tanks, which may have defects due to wind, rain and sun, as well as the erosion of oil products, which may lead to serious safety accidents. If manual detection requires a lot of manpower, and there may be missed detection and so on, in addition, there is still a certain risk of manual detection. The wall climbing robot is designed based on the actual needs of the industry. Compared with the manual detection, the wall climbing robot is more automatic, and the accuracy is also higher than the manual detection, and the defect detection is more thorough.

Considering the actual industrial environment, the robot generally detects the metal wall, so the adsorption mode selected in this design ic adsorption, the walking mechanism is wheeled, and the detection mode is ultrasonic detection. That is to say, the overall scheme is that wheeled ultrasonic testing has higher efficiency and practicability, on the basis of which the mechanical structure of wall climbing robot is designed.

In the structural design, the overall structure is first designed, and then the driving mode and transmission mode are selected and checked, the type of motor and the type of coupling are selected. After the design, the strength of the key parts is checked in turn. In the transmission part, the three-dimensional die is first carried out with SolidWorks three-dimensional software. After the establishment of the type, it is saved as a neutral file, and the neutral file is imported into ADAMS and the kinematic simulation is carried out by ADAMS to check whether the motion of the key part is in accordance with the preset. The motion parameters of the key parts are listed and analyzed whether the actual motion is consistent with it. In ic adsorption part, ic force simulation is used to analyze and judge whether ic force can make the wall climbing robot adsorb firmly on the wall. Finally, the structure design of the wall climbing robot is realized.

Key words: wall climbing robot; structure design; motion simulation; magnetic simulation


文件目录

1 引言 1

1.1课题科学研究情况及实际意义 1

1.2中国外科学研究现状及发展趋势趋势 1

1.2.1海外科学研究现状 1

1.2.2中国科学研究现状 2

1.2.3发展趋势趋势 2

2爬壁设备人整体设计方案计划方案 3

2.1吸附方法 3

2.2行走组织 3

2.3检验方法 4

2.4外界构造 5

3零构件构造设计方案及校核 6

3.1电动机的挑选 6

3.1.1电动机种类和构造方式 6

3.1.2电动机容量挑选 6

3.1.3电动机转速 7

3.2联轴器的挑选 7

3.3轴的设计方案及校核 8

3.3.1轴的原材料 8

3.3.2轴的最少直径 8

3.3.3轴的构造设计方案 10

3.3.4轴的校核测算 13

3.4车板的构造尺寸 17

4 爬壁设备人ADAMS健身运动学剖析 18

4.1 ADAMS健身运动学剖析实际意义 18

4.2仿真流程 18

4.3仿真数据信息及剖析 18

4.4仿真动漫 24

4.5健身运动学仿真总结 25

5 磁轮设计方案及磁力仿真 25

5.1永磁体原材料的挑选 25

5.2磁轮的挑选和设计方案 26

5.3磁轮的仿真及剖析 27

6 总结及未来展望 28

6.1总结 28

6.2未来展望 29

参照参考文献 30

论文致谢 32
















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