管子管板检测机器人爬行脚的吊装负载能力研究

在爬行机器人携带无损检测（NDT）设备的情况下，为了保证其对立式换热器管子管板角焊缝检测过程的稳定性和可靠性，重点对立式换热器管子管板检测机器人的关键机构——爬行脚的负载能力进行了数值模拟分析和实验研究，应用Hypermesh和ANSYS Workbench联合仿真平台对爬行脚在充气和自锁工况下的结构强度和接触状态进行了仿真。模拟结果表明，在负载逐渐增加的过程中，两种工况下爬行脚与换热管内壁之间没有发生滑移失效，一直保持了良好的稳定性和可靠性。同时对爬行脚实验样机进行了开发和验证，并通过两种工况下的吊装负载实验，得到充气工况最大负载为38 kg，自锁工况最大负载为15 kg，验证了其良好的稳定性。

Study of the lifting load capacity of the crawling foot of a tube-tubesheet detecting robot

In order to ensure the stability and reliability of a crawling robot when it inspects the welds of a heat exchanger carrying nondestructive testing (NDT) equipment, the load capacity of the crawling foot, which is the key component, was studied by numerical simulation and experiment. The structural strength and contact state of the crawling foot were simulated under inflated and self-locking conditions using Hypermesh and ANSYS Workbench. The result showed that there was no slipping failure between the crawling foot and tube during a gradual increase of load under both conditions, and the stability was always maintained. The crawling foot was developed and verified and lifting load experiments were carried out under both conditions. The maximum load was 38 kg under inflated conditions and 15 kg under self-locking conditions. It was verified that the crawling foot had good stability.