管道移动机器人结构设计.docxVIP

河南工程学院本科毕业设计

摘要

针对我国油气管道规模庞大、人工巡检效率低且风险高的问题，本研究设计了一种适用于DN200-DN600管道的履带式移动机器人。通过模块化结构划分，重点开展移动底盘、支撑机构、框架及连接机构的设计与分析：采用履带式底盘结合蜗轮蜗杆减速器实现稳定驱动，设计可调节支撑臂结构以适应管径变化，利用铝合金材料及轻量化设计提升框架强度与刚度，选用十字轴式万向节与弹簧垫圈组合实现柔性连接与冲击缓冲。通过驱动电机选型、蜗轮蜗杆参数计算、支撑臂力学分析及框架强度校核，验证了关键部件的可靠性。基于三维建模技术完成机器人本体、机械臂及移动装置的建模，为后续智能化集成提供机械平台。研究结果表明，该机器人具备良好的管道通过性与环境适应性，为管道无人化巡检奠定了技术基础，对推动国内管道机器人国产化具有重要意义。

关键词：管道移动机器人；履带式结构；模块化设计；力学分析

河南工程学院本科毕业设计

ABSTRACT

Inresponsetotheproblemsoflarge-scaleoilandgaspipelinesinChina,lowefficiencandhighrisksofmanualinspection,thisstudydesignsacrawler-typemobilerobotapplicabletoDN200-DN600pipelines.Throughmodularstructuredivision,thedesignandanalysisofthemobilechassis,supportmechanism,frameandconnectionmechanismarefocusedon:Thecrawler-typechassiscombinedwithwormgearreducerisadoptedtoachievestabledriving.Theadjustablesupportarmstructureisdesignedtoadapttothechangeofpipediameters.Thealuminumalloymaterialandlightweightdesignareutilizedtoenhancethestrengthandstiffnessoftheframe.Thecross-axistypeuniversaljointandspringwashersareselectedtoachieveflexibleconnectionandshockbuffering.Throughtheselectionofdrivemotor,calculationofwormgearparameters,mechanicalanalysisofsupportarmandstrengthverificationofframe,thereliabilityofkeycomponentsisverified.Basedonthethree-dimensionalmodelingtechnology,themodelingoftherobotbody,mechanicalarmandmobiledeviceiscompleted,providingamechanicalplatformforsubsequentintelligentintegration.Theresearchresultsshowthattherobothasgoodpipelinepassageperformanceandenvironmentaladaptability,layingatechnicalfoundationforunmannedpipelineinspection,andisofgreatsignificanceforpromotingthedomesticationofpipelinerobotsinChina.

KEYWORDS:Pipelinemobilerobot;crawlerstructure;modulardesign;mechanicalanalysis

河南工程学院本科毕业设计

目录

摘要 I

ABSTRACT II

第1章绪论 1

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