【正文】 的曲線。單擊【確定】按鈕，退出草圖狀態(tài)。選擇“上視基準(zhǔn)面”做誒草圖繪制平面。用【添加幾何關(guān)系】工具將圓心與 3D 草圖作“穿透”約束。 （ 6）掃描實(shí)體。在“輪廓”一欄中選擇（ 5）中繪制的圓；在“路徑”一欄中選擇 3D 曲線，單擊“確定”按鈕，完成掃描建模。單擊【特征】→【圓周陣列】圖標(biāo)，彈出“圓周陣列”屬性管理器。選中“等間距”復(fù)選框，設(shè)置陣列數(shù)為 2,。單擊【確定】按鈕，完成圓周陣列。選擇“裝配圖”，單擊【確定】按鈕。重復(fù)上述步驟，依次打開(kāi)“鋼輪”、“齒輪連接桿”、“惰輪”、“齒輪連接輪”、“銷(xiāo)”。接著將兩個(gè)輪子的側(cè)平面作“重合”配合 ，預(yù)覽無(wú)誤后單擊“確定”圖標(biāo)按鈕。選擇鋼輪側(cè)面最高平面與齒輪連接桿的平面作“重合”配合，預(yù)覽無(wú)誤后單擊“確定”圖標(biāo)按鈕， （ 4）重復(fù)步驟（ 3），將惰輪與齒輪連接桿配合在一起。選擇銷(xiāo)子的外表面圓柱體與齒輪連接桿孔的內(nèi)表面做 “同軸心”配合，預(yù)覽無(wú)誤后單擊“確認(rèn)”圖標(biāo)按鈕。 圖 驅(qū)動(dòng)輪之間的相互配合 驅(qū)動(dòng)輪與蝸輪之間的連接 （ 1）啟動(dòng) SolidWorks，進(jìn)入界面后單擊【新建】圖標(biāo)按鈕。 （ 2）單擊“插入零部件”圖標(biāo)按鈕→單擊“瀏覽”→找到“驅(qū)動(dòng)輪”裝配體→單擊“打開(kāi)”， 移動(dòng)鼠標(biāo)將“驅(qū)動(dòng)輪”放置到恰當(dāng)?shù)奈恢?。旋轉(zhuǎn)驅(qū)動(dòng)輪與蝸輪盡量平行。選擇固定桿的端面與固定板作“重合”處理，預(yù)覽無(wú)誤后單擊“確定”圖標(biāo)按鈕。參數(shù)中，選擇基準(zhǔn)軸為“基準(zhǔn)軸 電機(jī)”，旋轉(zhuǎn)角度為 360176。存盤(pán)，退出，完成驅(qū)動(dòng)輪與蝸輪的連接。 本研究主要表現(xiàn)在以下幾方面： 目前，直進(jìn)輪式管道機(jī)器人一般適用于固定的管徑，本研究將直進(jìn)輪式管道機(jī)器人應(yīng)用到了φ 330mm 的管徑，可適用管徑一定范圍的變化。對(duì)其中關(guān)鍵的機(jī)械 部件如蝸輪蝸桿傳動(dòng)部件、彈簧等進(jìn)行了設(shè)計(jì)計(jì)算。 該移動(dòng)機(jī)構(gòu)具有結(jié)構(gòu)緊湊 ,驅(qū)動(dòng)效率高 ,安裝方便 ,工作可靠 ,成本較低的特點(diǎn)。 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(dòng)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(huì)機(jī)械工業(yè)自動(dòng)化分會(huì)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。 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。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(gè)學(xué)習(xí)機(jī)會(huì)，謝謝！治學(xué)態(tài)度嚴(yán)謹(jǐn)，學(xué)識(shí)淵博，為人和藹可親。在此表示誠(chéng)摯的感謝和由衷的敬意。 在畢業(yè)設(shè)計(jì)過(guò)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(shí)的給予了我們相關(guān)指導(dǎo)，再次也表示由衷感謝。 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 tracti