管道機器人毕业设计(论文)简介.docVIP

φ700mm-φ1000mm管道机器人结构设计 摘 要 在工农业生产及日常生活中，管道应用范围极为广泛。在管道的使用过程中，会产生管道堵塞与管道故障和损伤，需要定期维护、检修等。但管道所处的环境往往是人们不易达到或者不允许人们直接进入，所以开发管道机器人就显得尤为重要。 以金属冶炼厂管道清洁机器人为研究目标，根据其工作环境和技术要求设计了一种可适应φ700mm-φ1000mm管道的管道清洁机器人。该管道机器人采用三履带式的可伸缩行走装置，操作装置为2个自由的的操作臂，末端操作器上安装有吸尘头，吸尘头吸起的灰尘通过吸尘软管收集在装灰箱体内。当灰尘装满后，机器人行走到倒灰口，打开卸料门，将灰尘倒掉。本次设计主要对管道清洁机器人进行结构设计，利用三维参数化特征建模软件Pro/Engineer建立了管道清洁机器人的三维模型，生成了机器人主要零部件的工程图。对管道机器人中的主要机构进行动态仿真，验证了所设计机构的正确性。最后对主要零部件进行了设计校核计算，并简单叙述了该机器人控制方案。 关键词： 管道清洁机器人；结构设计；三维建模 Abstract Pipeline is very often applied on industry and agriculture production and daily life. Because pipeline is possibly jammed and distressed, it needs to be maintained and repaired and so on. However it is difficult to reach or do not allow directly accessing in pipeline, so exploiture of pipeline robot is particularly important. Regarding in-pipe clearing dust robot in exhaust gas pipeline of metal smeltery as the research object, based on working environment and technology requires of the robot, a kind of pipeline robot which is capable of adapting φ700mm-φ1000mm pipe is designed. The robot has three-pedrail and extend-retract locomotion equipment, its operation device is 2-DOF arm, ender operation is a nose-dust-collector, dust is collected in box loading dust through tube. When the box is loaded up, the robot runs to dump opening and discharge opening is opened, and dust is unloaded. In the design, pipeline robot structure is detailedly designed. Pipeline cleaning robot model is built in three-dimensional modeling software Pro/Engineer, robot drawing is built. Robot mechanism is simulated, and it verifies project of robot to be correct. In the end mostly parts are checked and analysed, and robot control project is simply illuminated. Keywords： Pipe Cleaning Robot ；Structural Design；Three-dimensional Modeling 本课题研究背景及意义 在工农业生产及日常生活中，管道作为一种重要的物料运输手段，其应用范围极为广泛。管道在使用过程中，由于各种因素的影响，会产生各种各样的管道堵塞与管道故障和损伤。如果不及时的管道进行检测、维修及清理就可能产生事故，造成不必要的损失。然而，管道所处的环境往往是不易直接达到或不允许人们直接进入的，检测及清洗难度很大。因此最有效的方法之一就