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螺旋 驱动 管道 机器人 结构设计 全套 cad 图纸

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螺旋驱动管道机器人的结构设计摘 要本设计的主要内容是螺旋驱动管道机器人的组成及工作原理,对机器人的机械结构进行了设计,并且分析了其在弯管内的几何与运动约束条件。新型的旋转体和保持体结构的设计,使此管道机器人具有较大的牵引力和移动速度。随着时间的推移，非工业领域的自动化程度越来越高，智能机器人的应用领域越来越广泛。总体趋势是，从狭义的机器人概念向广义的机器人技术概念转移，从工业机器人产业向解决方案业务的机器人技术产业发展。机器人技术的内涵已变为灵活应用机器人技术的、具有实际动作功能的智能化系统。机器人结构越来越灵巧，控制系统愈来愈小，其智能也越来越高，并正朝着一体化方向发展。机器人采用节段式设计,使得其具有强大的功能扩展性。在制冷、化工、核电站等领域,采用常规方法对小型管道检测存在中毒、辐射等危险,且费时费力。因此,螺旋驱动管道机器人在细小管道检测方面具有良好的应用前景,并且其机械结构具有较高的实用价值和学术意义。螺旋轮式管道机器人特点：轮式行走具有结构简单、行走连续平稳的特点。关键词：螺旋推进；管道机器人；旋转体管道检测 AbstractThe main content of this design is the composition and working principle of the spiral propulsion pipe robot. The mechanical structure of the robot is designed, and the geometry and motion constraints of the robot are analyzed. The design of a new type of rotating body and keeping body structure makes the pipe robot have great traction force and moving speed. The robot adopts the segmental design, which makes it have a powerful function. In refrigeration, chemical industry, nuclear power plants and other fields, using conventional methods to detect small pipeline poisoning, radiation and other hazards, and time and effort. Therefore, the small pipeline robot has good application prospects in small pipeline detection, and its mechanical structure has high practical value and academic significance. Characteristics of the spiral wheel type pipeline robot: the characteristics of simple structure and stable running.Decided to 3 RRR spherical parallel mechanism geometry and movement characteristics of parameters for the four angles. How the four institutions within the scope of design parameters, reasonable choice makes the operator at the end of the working space is greater than or equal to the design index, and try to make the agency dexterity and simplified kinematics calculation is an important issue. This article is based on the designed work space launch institutions parameters selection criteria, determine the four angles of the 3-dof spherical parallel mechanism parameters, and good balance the other features of the organization. And using the parallel mechanism of three series branch work space intersection method of 3-dof spherical parallel mechanism of working space is greater than the target working space. At the same time in order to avoid the interference between each member and make different bar working on different spherical; In order to reduce the radial size and bevel gear drive through the upright will drive system.Keywords: Spiral propulsion; Pipeline robot; Rotating body pipeline detectionIII目 录 摘 要IAbstractII第1章 绪 论11.1 研究的目的和意义11.2 机器人的发展历程21.3 机器人在各大领域的应用21.4 螺旋驱动管道机器人的应用3第2章 管道机器人总体方案设计42.1 设计方案42.2 机械结构设计42.3 传动带的选择82.4 本章小结11第3章 管道机器人变管径自适应性方案设计123.1 支腿单独调整方式123.2 支腿整体调整方式123.3 本章小结15第4章 动力系统设计计算164.1 管道机器人行驶阻力分析164.2 减速器的选择184.3 机器人的速度和驱动能力校核194.3.1 运动