毕业设计（论文）-螺旋驱动管道机器人设计（全套图纸）.doc

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
全套图纸加153893706
Abstract
The main content of this design is position 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 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 go