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管道除尘机器人结构设计【10张图纸-2A0】【优秀】

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摘要

　　　基于利用行星磨头清洗技术对管道进行清洗的目的，在总结现有的管道机器人设计方案的基础上，根据现场的实际情况，论文首先对管道清洗机器人行走部分进行方案设计，经分析比较后确定了新型管道清洗机器人行走的较佳设计方案，并据此方案对机器人作了行走部分结构设计;对机器人的行走特性进行了研究，提出了使机器人在管道内能够保持稳定运行的方法.通过对机器人机构的设计和机器人在直管道内运动情况的思考研究，进一步验证了设计思想的可行性。

　　　最后，研究了管道清洗机器人行走系统的安全性能，给出了在高压情况下保证行走系统安全的基本方案，为管道清洗机器人系统的实用化提供可靠的依据。

关键词: 管道机器人；安全防护；行走

摘要III

AbstractIV

绪论1

1 概述2

1.1 管道清洗机器人常见问题分析2

1.2 除垢机器人理念2

1.3 基本设计任务3

1.4毕业设计的目的3

2.1 管道射流清洗机器人的本体设计4

2.1.1 移动方式选择4

2.1.2 传动方案的选择4

2.2 管道清洗机器人变管径自适应性方案设计6

2.3 动力系统的设计计算9

2.3.1 管道机器人行驶阻力分析9

2.3.2 减速器的选择12

2.4 机器人的速度和驱动能力校核13

2.4.1 运动速度校核13

2.4.2 驱动能力校核13

3 链轮传动的设计计算14

3.1 链轮设计的初始条件15

3.2 链轮计算结果15

3.3历史结果16

4 蜗轮蜗杆的设计计算18

4.1 蜗轮蜗杆基本参数设计18

4.1.1 普通蜗杆设计输入参数18

4.1.2 材料及热处理19

4.1.3 蜗杆蜗轮基本参数20

4.1.4 蜗蜗轮精度21

4.1.5 强度刚度校核结果和参数22

4.1.6 自然通风散热计算22

4.2蜗杆轴的结构设计23

4.2.1 轴的强度较核计算23

4.2.2 轴的结构设计24

4.2.3 键的校核25

5 弹簧的设计计算25

6 安全性能26

结论27

参考文献28

致谢30

绪论

1.1本课题研究的内容和意义

　　　用于石油、天然气乃至民用上下水等管道在传输液、气体过程中，因温度、压力不同及介质与管道之间的物理化学作用，常常会高温结焦，生成油垢、水垢，存留沉积物，腐蚀物等，使有效传输管径减少，效率下降，物耗、能耗增加，工艺流程中断，设备失效，发生安全事故。尽管通过添加化学剂，采用合理的工艺参数，进行水质处理措施可以在一定程度上改善这些情况，但要完全避免污垢的产生是不可能的。我国的管道清洗行业长期以来80%采用的是化学方法以及手工清洗和机械清洗方法，成本高、效率低、污染环境等，远远不能满足现代社会日益增长的要求。探索和开发高效的清洗方法成为工业生产和人民生活的不可或缺的环节。

　　　利用行星磨头清洗是一种新的清洗方法。与化学清洗及手工、机械清洗相比，具有清洗质量好、效率高、适应性强、成本低等一系列优点，可达到返旧还新的效果。作为一种清洁、高效、对环境无污染的清洗技术，具有可观的经济和社会效益。

1.2国内外发展状况

　　　目前在管道清洗过程中，清洗设备绝大部分是采用无动力缆绳拖拉行走方式来进行清洗，无法根据管道的内部情况进行清洗参数的动态调整，管径的适应能力较差。为了解决这个问题，着眼于管道行走清洗机器人的研究开发，而在国内这方面研究尚少。为了较好地解决管道(束)的清洗难题，开发和研制管道清洗机器人势在必行。我们设计管道清洗机器人是把行星磨头清洗技术与机器人技术结合起来，进行综合设计开发，因此它的深入研究也将推动管道清洗技术的发展。

1.3本课题应达到的要求

　　　作为高压水和化学清洗的有效补充手段，行走式管路清洗方法具有一定的独特性：如成本低廉、安全性好、无任何环境污染、水电消耗非常小。尤其是在化学清洗和高压水清洗方法无法应用或成本不允许的情况下,利用除垢机器人清洗能够发挥独特的作用,并取得良好的效果。

　　　我们采用的是压缩空气喷洗机器人。除垢机器人的首要要解决的问题就是行走问题，怎样使机器人在管道中行走是除垢机器人能否成功完成的重要环节之一。目前管内机器人的驱动方式有自驱动 (自带动力源)、利用流体推力、通过弹性杆外加推力三种方式。根据输灰管道和回水管道内的实际情况，管道除垢机器人宜采用自驱动方式。采用双步进电机驱动，通过谐波减速器将动力传递给行走装置。尽管自驱动管内机器人行走可以采用的轮式、脚式爬行式、蠕动式，履带式等多种形式，但因管道内有灰、灰垢和其他杂物，环境恶劣，附着能力差采用履带式方式比较合适，可以增大行走机构和管道内表面的接触面积，提高行走时机器人的附着能力。

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内容简介：: 无锡太湖学院信机系机械工程及自动化专业毕业设计论文任务书一、题目及专题：1、题目管道除尘机器人结构设计的研究 2、专题二、课题来源及选题依据1) 该课题为企业生产实际，目前，我国燃煤电厂输灰管道的除垢方法基本上可分为化学法和物理法。经实践应用，上述方法均存在一定局限性，不能同时符合环保及技术性、经济性要求，多数不被电厂接受。目前常用的是化学清洗法和人工振击法。但这两种方法也各有缺点。2) 本课题就是针对这一现状，对输灰管道清灰机器人进行初步探讨，以期能达到清洁环保等功能，完成该课题可对我们大学期间所学知识进行一次全面的专业训练，可以培养我们掌握如何运用过去所学知识去解决生产中实际问题的方法，增强从事本专业实际工作所必需的基本能力和开发研究能力，可以提高我们的专业素质，为今后走上工作岗位打下一个良好的基础。三、本设计（论文或其他）应达到的要求：1、能正确合理分析产品设计的具体要求和产品的功能实现；2、能合理根据产品的设计要求拟定多种解决方案，并进行多方案优化分析设计； 3、合理选择和设计部件的传动方案，并能进行一些必要的设计计算；4、正确选择零部件中各零件，并能进行一定的校核计算和优化设计； 5、绘制机器人行走部件装配图；6、设计绘制零件工作图若干；7、编制设计计算说明书1份；四、接受任务学生：机械97 班姓名赵金辉五、开始及完成日期：自 2012 年 11月 7 日至 2013 年 5 月 25 日六、设计（论文）指导（或顾问）：指导教师签名签名签名教研室主任学科组组长研究所所长签名系主任签名2012 年 11 月 12 日Numerical control technology and equipping development trend and countermeasure Numerical control technology is the technology controlled to mechanical movement and working course with digital information, integrated products of electro mechanics that the numerical control equipment is the new technology represented by numerical control technology forms to the manufacture industry of the tradition and infiltration of the new developing manufacturing industry, namely the so-called digitization is equipped, its technological range covers a lot of fields: (1)Mechanical manufacturing technology; (2)Information processing , processing , transmission technology; (3)Automatic control technology; (4)Servo drive technology; (5)Technology of the sensor ; (6)Software engineering ,etc. Development trend of a numerical control technology The application of numerical control technology has not only brought the revolutionary change to manufacturing industry of the tradition, make the manufacturing industry become the industrialized symbol , and with the constant development of numerical control technology and enlargement of the application, the development of some important trades (IT , automobile , light industry , medical treatment ,etc. ) to the national economy and the peoples livelihood of his plays a more and more important role, because the digitization that these trades needed to equip has already been the main trend of modern development. Numerical control technology in the world at present and equipping the development trend to see, there is the following several respect 1- in its main research focus . 1.A high-speed , high finish machining technology and new trend equipped The efficiency , quality are sub-manufacturing technology. High-speed , high finish machining technology can raise the efficiency greatly , improve the quality and grade of the products, shorten production cycle and improve the market competitive power. Japan carries the technological research association first to classify it as one of the 5 great modern manufacturing technologies for this, learn (CIRP ) to confirm it as the centre in the 21st century and study one of the directions in international production engineering. In the field of car industry, produce one second when beat such as production of 300,000 / vehicle per year, and many variety process it is car that equip key problem that must be solved one of; In the fields of aviation and aerospace industry, spare parts of its processing are mostly the thin wall and thin muscle, rigidity is very bad, the material is aluminium or aluminium alloy, only in a situation that cut the speed and cut strength very small high, could process these muscles , walls . Adopt large-scale whole aluminium alloy method that blank pay empty make the wing recently, such large-scale parts as the fuselage ,etc. come to substitute a lot of parts to assemble through numerous rivet , screw and other connection way, make the intensity , rigidity and dependability of the component improved. All these, to processing and equiping the demand which has proposed high-speed , high precise and high flexibility. According to EMO2001 exhibition situation, high-speed machining center is it give speed can reach 80m/min is even high , air transport competent speed can up to 100m/min to be about to enter. A lot of automobile factories in the world at present, including Shanghai General Motors Corporation of our country, have already adopted and substituted and made the lathe up with the production line part that the high-speed machining center makes up . HyperMach lathe of U.S.A. CINCINNATI Company enters to nearly biggest 60m/min of speed, it is 100m/min to be fast, the acceleration reaches 2g, the rotational speed of the main shaft has already reached 60 000r/min. Processing a thin wall of plane parts, spend 30min only, and same part general at a high speed milling machine process and take 3h, the ordinary milling machine is being processed to need 8h; The speed and acceleration of main shaft of dual main shaft lathes of Germany DMG Company are up to 12* separately! 000r/mm and 1g. In machining accuracy, the past 10 years, ordinary progression accuse of machining accuracy of lathe bring 5m up to from 10m already, accurate grades of machining center from 3- 5m, rise to 1- 1.5m, and ultraprecision machining accuracy is it enter nanometer grade to begin already (0.01m). In dependability, MTBF value of the foreign numerical control device has already reached above 6 000h, MTBF value of the servo system reaches above 30000h, demonstrate very high dependability . In order to realize high-speed , high finish machining, if the part of function related to it is electric main shaft , straight line electrical machinery get fast development, the application is expanded further. 1.2 Link and process and compound to process the fast development of the lathe in 5 axes Adopt 5 axles to link the processing of the three-dimensional curved surface part, can cut with the best geometry form of the cutter , not only highly polished, but also efficiency improves by a large margin . It is generally acknowledged , the efficiency of an 5 axle gear beds can equal 2 3 axle gear beds , is it wait for to use the cubic nitrogen boron the milling cutter of ultra hard material is milled and pared at a high speed while quenching the hard steel part, 5 axles link and process 3 constant axles to link and process and give play to higher benefit. Because such reasons as complicated that 5 axles link the numerical control system , host computer structure that but go over, it is several times higher that its price links the numerical control lathe than 3 axles , in addition the technological degree of difficulty of programming is relatively great, have restricted the development of 5 axle gear beds. At present because of electric appearance of main shaft, is it realize 5 axle complex main shaft hair structure processed to link greatly simplify to make, it makes degree of difficulty and reducing by a large margin of the cost, the price disparity of the numerical control system shrinks . So promoted 5 axle gear beds of head 无效 of complex main shaft and compound to process the development of the lathe (process the lathe including 5 ). At EMO2001 exhibition, new Japanese 5 of worker machine process lathe adopt complex main shaft hair, can realize the processing of 4 vertical planes and processing of the wanton angle , make 5 times process and 5 axles are processed and can be realized on the same lathe, can also realize the inclined plane and pour the processing of the hole of awls . Germany DMG Company exhibits the DMUVoution series machining center, but put and insert and put processing and 5 axles 5 times to link and process in once, can be controlled by CNC system or CAD/CAM is controlled directly or indirectly. 1.3 Become the main trend of systematic development of contemporary numerical control intelligently , openly , networkedlily The numerical control equipment in the 21st century will be sure the intelligent system, the intelligent content includes all respects in the numerical control system: It is intelligent in order to pursue the efficiency of processing and process quality, control such as the self-adaptation of the processing course, the craft parameter is produced automatically; Join the convenient one in order to improve the performance of urging and use intelligently, if feedforward control , adaptive operation , electrical machinery of parameter , discern load select models , since exactly makes etc. automatically automatically; The ones that simplified programming , simplified operating aspect are intelligent, for instance intelligent automatic programming , intelligent man-machine interface ,etc.; There are content of intelligence diagnose , intelligent monitoring , diagnosis convenient to be systematic and maintaining ,etc. Produce the existing problem for the industrialization of solving the traditional numerical control system sealing and numerical control application software. A lot of countries carry on research to the open numerical control system at present, such as NGC of U.S.A. (The Next Generation Work-Station/Machine Control), OSACA of European Community (Open System Architecture for Control within Automation Systems), OSEC (Open System Environment for Controller ) of Japan, ONC (Open Numerical Control System ) of China ,etc. The numerical control system melts to become the future way of the numerical control system open. The so-called open numerical control system is the development of the numerical control system can be on unified operation platform, face the lathe producer and end user, through changing, increasing or cutting out the structure target(numerical control function), form the seriation, and can use users specially conveniently and the technical know-how is integrated in the control system, realize the open numerical control system of different variety , different grade fast, form leading brand products with distinct distinction. System structure norm of the open numerical control system at present, communication norm , disposing norm , operation platform , numerical control systematic function storehouse and numerical control systematic function software developing 包含ument ,etc. are the core of present research. The networked numerical control equipment is a new light spot of the fair of the internationally famous lathe in the past two years. Meeting production line , manufacture system , demand for the information integration of manufacturing company networkedly greatly of numerical control equipment, realize new manufacture mode such as quick make , fictitious enterprise , basic Entrance that the whole world make too. Some domestic and international famous numerical control lathes and systematic manufacturing companies of numerical control have all introduced relevant new concepts and proto无效s of a machine in the past two years, if in EMO2001 exhibition, CyberProduction Center that the company exhibits of mountain rugged campstool gram in Japan (Mazak ) (intellectual central production control unit, abbreviated as CPC); The lathe company of Japanese big Wei (Okuma ) exhibits IT plaza (the information technology square , is abbreviated as IT square ); Open Manufacturing Environment that the company exhibits of German Siemens (Siemens ) (open the manufacturing environment, abbreviated as OME),etc., have reflected numerical control machine tooling to the development trend of networked direction. 2 pairs of basic estimations of technology and industry development of numerical control of our country The technology of numerical control of our country started in 1958, the development course in the past 50 years can roughly be divided into 3 stages: The first stage is from 1958 to 1979, namely closed developing stage. In this stages, because technology of foreign countries blockade and basic restriction of terms of our country, the development of numerical control technology is comparatively slow. During Sixth Five-Year Plan Period , the Seventh Five-Year Plan Period of the country in second stage and earlier stage in the Eighth Five-Year Plan Period , namely introduce technology, digest and assimilate, the stage of establishing the system of production domesticization arisesing tentatively. At this stage , because of reform and opening-up and national attention , and study the improvement of the development environment and international environment, research , development and all making considerable progress in production domesticization of the products of the technology of numerical control of our country. The third stage is and during the Ninth Five-Year Plan Period on the later stage in the Eighth Five-Year Plan Period of the country, namely implement the research of industrialization, enter market competition stage. At this stage , made substantive progress in industrialization of the domestic numerical control equipment of our country. In latter stage for the Ninth Five-Year Plan , the domestic occupation rate of market of the domestic numerical control lathe is up to 50%, it is up to 10% too to mix the domestic numerical control system (popular ). Make a general survey of the development course in the past 50 years of technology of numerical control of our country, especially through tackling key problems of 4 Five-Year Plans, all in all has made following achievements. a.Have establish the foundation of the technical development of numerical control, has mastered modern numerical control technology basically. Our country has already, the numerical control host computer , basic technology of special plane and fittings grasped and driven from the numerical control system and servoly basically now, among them most technology have already possessed and commercialized the foundation developed , some technology has already, industrialization commercialized. .Have formed the industrial base of numerical control tentatively. In tackling key problems the foundation that the achievement and some technology commercialize , set up the systematic factories of numerical control with production capacity in batches such as numerical control in Central China , numerical control of the spaceflight etc. Electrical machinery plant of Lanzhou, such factory and the first machine tool plant of Beijing , the first machine tool plant of Jinan ,etc. several numerical control host computer factories of a batch of servo systems and servo electrical machineries as the numerical control in Central China,etc. These factories have formed the numerical control industrial base of our country basically. Have set up a numerical control research, development , managerial talents basic team . Though has made considerable progress in research and development and industrialization of numerical control technology, but we will realize soberly, the research and development of the technology of advanced numerical control of our country, especially there is greater disparity in current situation and current demand of our country of engineering level in industrialization. Though very fast from watching the development of our country vertically, have disparity horizontally more than (compare foreign countries with ) not merely engineering level, there is disparity too in development speed in some aspects, namely the engineering level disparity between some high-grade , precision and advanced numerical control equipment has the tendency to expand . Watch from world , estimate roughly as follows about the engineering level of numerical control of our country and industrialization level. On the engineering level, in probably backward 10- 1 years with the advanced level in foreign countries, it is bigger in high-quality precision and sophisticated technology. On the industrialization level, the occupation rate of market is low, the variety coverage rate is little, have not formed the large-scale production yet; The specialized level of production of function part and ability of forming a complete set are relatively low; Appearance quality is relatively poor; Dependability is not high, the commercialized degree is insufficient; Ones own brand effect that the domestic numerical control system has not been set up yet, users have insufficient confidence. On the ability of sustainable development, research and development of numerical control technology , project ability are relatively weak to the competition; It is not strong that the technological application of numerical control expands dynamics; Research , formulation that relevant standards are normal lag behind. It is analysed that the main reason for having above-mentioned disparity has the following several respect. Realize the respect. Know to industrys process arduousness , complexity and long-term characteristic of domestic numerical control insufficiently; It is difficult to underestimate to add strangling , system ,etc. to the unstandard , foreign blockade of the market; It is not enough to analyse to the technological application level and ability of numerical control of our country. System. Pay close attention to numerical control industrialization many in the issue , consider numerical control industrialization little in the issue synthetically in terms of the systematic one , industry chain in terms of technology; Have not set up related system , perfect training , service network of intact high quality ,etc. and supported the system. Mechanism. It causes the brain drain, restraining technology and technological route from innovating again , products innovation that the bad machine is made, and has restricted the effective implementation of planning , has often planned the ideal , implement the difficulty. Technology. The autonomous innovation in technology of enterprises is indifferent, the project of key technology is indifferent. The standard of the lathe lags behind, the level is relatively low, it is not enough for new standard of the numerical control system to study. 数控技术和装备发展趋势及对策数控技术是用数字信息对机械运动和工作过程进行控制的技术，数控装备是以数控技术为代表的新技术对传统制造产业和新兴制造业的渗透形成的机电一体化产品，即所谓的数字化装备，其技术范围覆盖很多领域：(1)机械制造技术；(2)信息处理、加工、传输技术；(3)自动控制技术；(4)伺服驱动技术；(5)传感器技术；(6)软件技术等。1 数控技术的发展趋势数控技术的应用不但给传统制造业带来了革命性的变化，使制造业成为工业化的象征，而且随着数控技术的不断发展和应用领域的扩大，他对国计民生的一些重要行业（IT、汽车、轻工、医疗等）的发展起着越来越重要的作用，因为这些行业所需装备的数字化已是现代发展的大趋势。从目前世界上数控技术及其装备发展的趋势来看，其主要研究热点有以下几个方面14。11 高速、高精加工技术及装备的新趋势效率、质量是先进制造技术的主体。高速、高精加工技术可极大地提高效率，提高产品的质量和档次，缩短生产周期和提高市场竞争能力。为此日本先端技术研究会将其列为5大现代制造技术之一，国际生产工程学会（CIRP）将其确定为21世纪的中心研究方向之一。在轿车工业领域，年产30万辆的生产节拍是40秒/辆，而且多品种加工是轿车装备必须解决的重点问题之一；在航空和宇航工业领域，其加工的零部件多为薄壁和薄筋，刚度很差，材料为铝或铝合金，只有在高切削速度和切削力很小的情况下，才能对这些筋、壁进行加工。近来采用大型整体铝合金坯料“掏空”的方法来制造机翼、机身等大型零件来替代多个零件通过众多的铆钉、螺钉和其他联结方式拼装，使构件的强度、刚度和可靠性得到提高。这些都对加工装备提出了高速、高精和高柔性的要求。从EMO2001展会情况来看，高速加工中心进给速度可达80m/min，甚至更高，空运行速度可达100m/min左右。目前世界上许多汽车厂，包括我国的上海通用汽车公司，已经采用以高速加工中心组成的生产线部分替代组合机床。美国CINCINNATI公司的HyperMach机床进给速度最大达60m/min，快速为100m/min，加速度达2g，主轴转速已达60 000r/min。加工一薄壁飞机零件，只用30min，而同样的零件在一般高速铣床加工需3h，在普通铣床加工需8h；德国DMG公司的双主轴车床的主轴速度及加速度分别达12*!000r/mm和1g。在加工精度方面，近10年来，普通级数控机床的加工精度已由10m提高到5m，精密级加工中心则从35m，提高到11.5m，并且超精密加工精度已开始进入纳米级(0.01m)。在可靠性方面，国外数控装置的MTBF值已达6 000h以上，伺服系统的MTBF值达到30000h以上，表现出非常高的可靠性。为了实现高速、高精加工，与之配套的功能部件如电主轴、直线电机得到了快速的发展，应用领域进一步扩大。1.2 5轴联动加工和复合加工机床快速发展采用5轴联动对三维曲面零件的加工，可用刀具最佳几何形状进行切削，不仅光洁度高，而且效率也大幅度提高。一般认为，1台5轴联动机床的效率可以等于2台3轴联动机床，特别是使用立方氮化硼等超硬材料铣刀进行高速铣削淬硬钢零件时，5轴联动加工可比3轴联动加工发挥更高的效益。但过去因5轴联动数控系统、主机结构复杂等原因，其价格要比3轴联动数控机床高出数倍，加之编程技术难度较大，制约了5轴联动机床的发展。当前由于电主轴的出现，使得实现5轴联动加工的复合主轴头结构大为简化，其制造难度和成本大幅度降低，数控系统的价格差距缩小。因此促进了复合主轴头类型5轴联动机床和复合加工机床（含5面加工机床）的发展。在EMO2001展会上，新日本工机的5面加工机床采用复合主轴头，可实现4个垂直平面的加工和任意角度的加工，使得5面加工和5轴加工可在同一台机床上实现，还可实现倾斜面和倒锥孔的加工。德国DMG公司展出DMUVoution系列加工中心，可在一次装夹下5面加工和5轴联动加工，可由CNC系统控制或CAD/CAM直接或间接控制。1.3 智能化、开放式、网络化成为当代数控系统发展的主要趋势 21世纪的数控装备将是具有一定智能化的系统，智能化的内容包括在数控系统中的各个方面：为追求加工效率和加工质量方面的智能化，如加工过程的自适应控制，工艺参数自动生成；为提高驱动性能及使用连接方便的智能化，如前馈控制、电机参数的自适应运算、自动识别负载自动选定模型、自整定等；简化编程、简化操作方面的智能化，如智能化的自动编程、智能化的人机界面等；还有智能诊断、智能监控方面的内容、方便系统的诊断及

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