管道智能机器人设计.docVIP

摘 要 管道机器人的运行机构主要由减速器、主动轮、从动轮、传动轴和一些连接件组成。 运行机构的总体设计有：运行阻力的计算、电动机的选择、减速比的计算、齿轮强度的计算、轴强度的计算、四杆机构的设计。本设计采用SG-27ZYJ直流电动机为动力源，电动机输出轴和减速器的高速轴通过联轴器联接，通过减速器输出比较慢的转速，输出轴通过主动轮带动履带是机器人在管道中前进或后退。 关键词：齿轮转动机构；履带；轴。 ABSTRACT The running mechanism of pipeline robot is mainly composed of a speed reducer, a driving wheel, a driven wheel, transmission shaft and a plurality of connecting pieces. The overall design of operation mechanism: the resistance operation, the choice of motor, reduction ratio, strength calculation, calculation of gear shaft strength calculation, four bar mechanism design. This design uses