【導(dǎo)讀】油混合物、硫化氫等有害氣體的腐蝕。這些管道受蝕后，管壁變薄，容易產(chǎn)生裂?？p，造成漏油的問題，存在重大安全生產(chǎn)隱患和濟(jì)濟(jì)損失。因此研究工程應(yīng)用中。的管道機(jī)器人具有很高的實(shí)用價值和學(xué)術(shù)價值。根據(jù)這些問題，我們設(shè)計(jì)一種新的行走機(jī)構(gòu)并分析了其總體機(jī)械結(jié)構(gòu)。它利用一個電機(jī)同時驅(qū)動均布在機(jī)架上并與管內(nèi)壁用彈簧力相封閉的六個。行進(jìn)輪，從而實(shí)現(xiàn)了可以軸向直進(jìn)全驅(qū)動的管內(nèi)行走。根據(jù)管道機(jī)器人的設(shè)計(jì)要求選擇電機(jī)，介紹了電機(jī)選擇過程，對其中關(guān)。鍵的機(jī)械部件如蝸輪蝸桿傳動部件、齒輪等進(jìn)行了設(shè)計(jì)。以該機(jī)構(gòu)的管徑適應(yīng)性增大，是一種具有實(shí)用價值的移動機(jī)構(gòu)形式??本次設(shè)計(jì)重點(diǎn)在于設(shè)計(jì)一個直徑輪式驅(qū)動裝置，要求此驅(qū)。缺陷，不僅會造成能源浪費(fèi)，還嚴(yán)重污染海洋環(huán)境。有害氣體的腐蝕,部分管段管壁變薄，強(qiáng)度變低，出現(xiàn)裂縫導(dǎo)致石油泄漏等故障,因此，對于管道的檢測和維護(hù)，成了工業(yè)生產(chǎn)中的一道難題。生了管道機(jī)器人并且受到了國際各方面的廣泛關(guān)注。

　　

【正文】 ； （ 2）對 機(jī)器人進(jìn)行剛?cè)崧?lián)合仿真有助于仿真結(jié)果更準(zhǔn)確，更接近實(shí)際； （ 3）加工、裝配、測試樣機(jī)，進(jìn)一步驗(yàn)證設(shè)計(jì)的可行性； （ 4）螺旋機(jī)構(gòu)在岔管的通過性問題研究； （ 5）更加靈活、可靠的行走機(jī)構(gòu)； （ 6）機(jī)器人的可靠性研究。 008,30 1 :29~33 [4]鄧宗全 .管內(nèi)作業(yè)機(jī)器人的發(fā)展與展望 .機(jī)器人 ,1986, 6 :471~478 [5]鄧宗全 ,王杰 ,劉福利 ,李笑 ,陳明 .直進(jìn)輪式全驅(qū)動管內(nèi)行走機(jī)構(gòu)的研究 .機(jī)器人 ,1995,17 2 :121~122 [6]楊占平 ,李笑 ,工程學(xué)會機(jī)械工業(yè)自動化分會論文集 ,1993,144~147 [7] Kawaguchi Y,Yoshida I,etc .Internal pipe inspection robot[A] .Proceedings of the 1995 IEEE International Conference on oboticsamp。Automation[C],1995,85786 [8] Scholl KU,KepplinV, articulated service robot for autonomous sewer inspectionTasks[A].Proceedingsofthe 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems[C] .~1080 [9]甘小明徐濱士等管道機(jī)器人的發(fā)展現(xiàn)狀 [J]機(jī)器人技術(shù)與應(yīng)用 2021 6 :5210 [10]馬榮朝秦 嵐潘英俊微小管道機(jī)器人移動機(jī)構(gòu)運(yùn)動學(xué)與動力學(xué)特性 [J]重慶大學(xué)學(xué)報(bào) 2021,25 7 :26229 [11]馬榮朝潘英俊秦嵐小口徑管道用機(jī)器人行星齒輪式行走機(jī)構(gòu)設(shè)計(jì) [J]農(nóng)業(yè)機(jī)械學(xué)報(bào) 2021,24 3 :109111。 本人的本科畢業(yè)設(shè)計(jì)論文一直是在的悉心指導(dǎo)下進(jìn)行的。從畢業(yè)設(shè)計(jì)選題到設(shè)計(jì)完成，老師給予了我耐心指導(dǎo)與細(xì)心關(guān)懷，有了老師耐心指導(dǎo)與細(xì)心關(guān)懷我才不會在設(shè)計(jì)的過程中迷失方向，失去前進(jìn)動力。老師有嚴(yán)肅的科學(xué)態(tài)度，嚴(yán)謹(jǐn)?shù)闹螌W(xué)精神和精益求精的工作作風(fēng)，這些都是我所需要學(xué)習(xí)的，感謝老師給予了我這樣一個學(xué)習(xí)機(jī)會，謝謝！治學(xué)態(tài)度嚴(yán)謹(jǐn)，學(xué)識淵博，為人和藹可親。并且在整個畢業(yè)設(shè)計(jì)過程中，不斷對我得到的結(jié)論進(jìn)行總結(jié)，并提出新的問題，使得我的畢業(yè)設(shè)計(jì)課題能夠深入地進(jìn)行下去， 也使我接觸到了許多理論和實(shí)際上的新問題，使我做了許多有益的思考。在此表示誠摯的感謝和由衷的敬意。 另外，如果沒有專業(yè)課老師的認(rèn)真授課，我的畢業(yè)設(shè)計(jì)也不可能順利完成，因此對四年來教授我知識的各位老師也再次表示衷心感謝。 在畢業(yè)設(shè)計(jì)過程中學(xué)校、學(xué)院的領(lǐng)導(dǎo)也給予了我們很大的關(guān)心和幫助，給我們提供了很好的設(shè)計(jì)環(huán)境，并及時的給予了我們相關(guān)指導(dǎo)，再次也表示由衷感謝。 最后感謝在畢業(yè)設(shè)計(jì)過程中給過我?guī)椭耐M的和其他的同學(xué)，在他們身上也學(xué)到了不少東西，并得到了他們的支持和鼓勵，希望他們在今后的工作、學(xué)習(xí)過程中不斷進(jìn)步。 Pipe diameter adaptive mechanism The pipe diameter adaptive mechanism is the actuator of active adaptation to pipe diameter and adjustment of tractive force. It is posed of three sets of parallelogram wheeled legs circumferentially spaced out 120 apart symmetrically. Each parallelogram wheeled leg has a front driving wheel and a rear driving wheel. Fig. 2 illustrates the one of three sets. The operation of the pipe diameter adaptive mechanism is driven by a step motor with convenience to be controlled. This motor is called the adjusting motor. Under the control of motor driver, the adjusting motor drives rotation of the ballscrew pair which can push three sets of parallelogram wheeled legs to make driving wheels contact to inner wall of pipe, or adjust the pressure between driving wheels and pipe wall. This structural design makes it possible to realize the adaptability to pipe diameter and tractive force adjusting together, and the pipe diameter adaptive mechanism with this structure can realize adjustment in a wide range. The nut of ballscrew, pressure sensor and axial sliding bush are connected together by screw bolts. The pressure sensor, which may test the sum of pressures between all the driving wheels and pipe wall indirectly, is useful for the control of pressing the driving wheels against the pipe wall with a stable pressure to obtain sufficient and stable tractive force, and on the other hand, can provide overload protection to prevent the mechanism overloading. As in Fig. 2, R is the radius of the robot, R1 is the radius of a pipe, h denotes the height from the central axis of the inspection robot to supporting point D, r is the radius of a driving wheel, L is the length of link CD, L1 is the distance between point D and pointM, L2 is the length of link MN, a is the included angles between link CD and axis X, b is the included angles between link MN and axis X, and F denotes the thrust force of mechanism motion, which is caused by the rotation of the ballscrew pair and which can be measured by the pressure sensor. . Mechanical model of active adaptation to pipe diameter In order to be adaptive for different diameters of pipelines, some bends, and some sections with special shape, the inspection robot needs to change its body size actively. To respond this action, the adjusting motor drives rotation of the ballscrew with an output torque T and produces a thrust force F which can drive translation of parallel linkage ABCD to change the radial size of the robot, and other two sets of parallelogram wheeled leg perform same action synchronously. At the beginning of this process, because the central axis of the robot does not overlap the central axis of pipe as shown in Fig. 3, an additional torque is required to overe the opposition caused by the transverse friction between surface of pipe wall and the wheels supporting the gravity. This may result over loading of the adjusting motor. Therefore, we need to analyze this process, and establish its mechanics model to guide the design. Since the structure of the robot is symmetric, its center of gravity denoted by symbol G can be assumed at its central axis. In Fig. 3, symbol c denotes the attitude angle of the robot which can reflect its rotation round the central axis of a pipe, N1 and N2 respectively denote the supporting force acting on the two sets of driving wheels by the gravity of the robot, h is the included angle between axis OZ and the line from the supporting point of a driving wheel to the pipe center, s is the arc length of h, θ is the coo rdinate of G at axis OZ, and f denotes the coefficient of transverse friction between driving wheels and pipe wall. From Figs. Mechanism of tractive force adjusting A gas pipeline inspection robot must obtain sufficient tractive force to pull its tether cable and other equipments while traveling inside a gas pipeline to plete inspection, maintenance, and repair tasks. When the motion motor of a wheeled robot can produce an enough driving force, its tractive force is determined by the adhesion force which depends on the normal pressure and adhesion coefficient between driving wheels and pipe wall. Thus, a wheeled robot with the pipe diameter adaptive mechanism, which can produce an additional normal pressure to change the adhesion force between driving wheels and pipe wall, is capable of adjusting its tractive force in a certain range. Along with the increase of inspection distance in pipeline, more tract