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管道除尘机器人结构设计【10张CAD图纸和说明书】

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关键词：: 管道除尘机器人结构设计 10 cad 图纸以及说明书仿单

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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

Abstract

Based on the use of planetary grinding head cleaning technology for the purpose of cleaning pipes, at the conclusion of the existing pipeline robot design based on the actual situation at the scene, the first paper on the pipe cleaning robot to walk part of program design, by analysis and comparison a new pipeline after cleaning robot designed to walk a better program, and accordingly the program made a walk on part of the structure of robot design; characteristics of walking robots have been studied and put forward in the pipeline so that the robot was able to remain stable The method of operation. By the design of the robot body and the robot movement in the straight tube case study of thinking, and further verify the feasibility of the design idea.

Finally, the research pipeline cleaning robot running the safety of the system performance, given the high-pressure circumstances to ensure that the basic operating system security program, for pipe cleaning robot system of the utility to provide a reliable basis.

Key words: pipe robot; security; walk

摘要 III

Abstract IV

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。

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内容简介：: 编号毕业设计（论文）相关资料题目：管道除尘机器人行星结构设计信机系机械工程及自动化专业学号：学生姓名：指导教师：（职称：）目录一、毕业设计（论文）开题报告二、毕业设计（论文）外文资料翻译及原文三、学生“毕业论文（论文）计划、进度、检查及落实表”四、实习鉴定表毕业设计（论文）开题报告题目：管道除尘机器人结构设计信机系机械工程及自动化专业学号：学生姓名：指导教师：课题来源某企业生产实际科学依据（包括课题的科学意义；国内外研究概况、水平和发展趋势；应用前景等）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。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。研究内容除垢机器人的首先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。管道除垢机器人宜采用自驱动方式。并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。本课题就是针对这一结构进行初步的设计。拟采取的研究方法、技术路线、实验方案及可行性分析在毕业实习调研以及查阅有关资料的基础上，拟定清洗机器人行走部件结构设计的最初方案，通过与指导老师协商讨论方案的可行性，并确定最终设计方案，并完成相关的设计计算及相应的设计图纸。研究计划及预期成果通过现场调研、模拟、建模、实验和机器调试，根据最初拟定的清洗机器人行走部件结构设计的方案，设计出具有一定清灰功能的清洗机器人，合理确定清灰机器人的驱动方式及行走形式，并选用最佳的设计方案，达到清灰功能。特色或创新之处适用于煤电厂管道清灰的优化设计，力求在清洁环保的前提下最大限度的减少企业成本，并降低工人的劳动强度和生产成本。已具备的条件和尚需解决的问题针对实际煤电企业管道清灰存在的问题，综合所学的机械理论设计、方法及工艺装备，探索和开发高效的清洗方法，将行星磨头清洗技术与机器人技术结合起来，进行综合设计开发管道清洗机器人，进而提升学生开发和创新机械产品的能力。指导教师意见指导教师签名：年月日教研室（学科组、研究所）意见教研室主任签名：年月日系意见主管领导签名：年月日Numerical control technology and equipping development trend and countermeasureNumerical 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 ,etcDevelopment 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 ef

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