一种球罐内部检测机器人支撑机构的设计

he wall-climbing robots used for periodic maintenance inside a spherical tank often have problems such as poor load capacity, sliding or overturning during walking and difficult to be positioned. Therefore, a retractable support mechanism which can be installed conveniently was designed to support and position the robot. Based on the analysis of the force and the requirement of retractable, the main body of the mechanism was designed as the truss composed of carbon fiber telescopic rod. With the static simulation of the main body carried out by ANSYS, the strength, stiffness and stability of the structure were analyzed, which proved the rationality of the design of the supporting mechanism.According to the analysis, the supporting mechanism can provide 450N supporting force to ensure that the robot with a weight of 20kg can work in the spherical tank with a diameter of 4.6~15.7m without falling down or overturning.