二手货cctv管道机器人 管道机器人.docVIP

二手货cctv管道机器人 管道机器人 摘要 摘 要 在石油管道中存在管道环焊缝不能处理的情况，严重影响了管道的寿命。单节管道的腐蚀直接影响整个管道的运输。因此，管道机器人在管道焊缝处理方面有很好的前景。 在轮式机器人的基础上，设计开发了一种新的管内移动机器人行走机构．机器人的3组驱动轮沿圆周方向成120°均匀分布，3个驱动电动机通过齿轮副直接驱动3组驱动轮，调节电动机通过新型的丝杠螺母副和压力传感器使3组驱动轮始终以稳定的正压力紧贴在管道内壁，使机器人具有充裕并且稳定的牵引力．对各个零件都做了详细的分析设计。使该机器人机构紧凑，工作可靠，适用于管径为?400～600 mm的管道。使管道机器人的牵引力达到1470N。移动速度达到83.33m/min。满足了管道机器人的牵引力及速度的要求。 关键词：石油管道；行走设计；适应管径；驱动原理 Abstract Abstract Existing in the pipeline oil pipeline of possible girth weld can’t handle, and this seriously influences the pipe life single quarter pipe directly affected the whole pipeline Transportation, therefore, the transportation in pipe welds processing pipeline robot has a good prospect. This paper introduces the design of a carry pipe welds processing device for oil pipeline adapt to the diameter of in-pipe robot400~600mm walk to a new design of the device the diameter of screw nut pair way to make adjustment to the pipeline robot to 1470N traction movement speed 83.33 m/min satisfy the pipe robots traction and speed requirements. This paper introduces the oil pipeline robot structure and working principle. Puts forward new screw nut pair diameter of institutions, to use is to screw rotation nut mobile way. Design the abrasion resistance calculation, screw strength calculation and screw stability calculation. And designed a gear parts design related. Analyses the stress of the stem. Designed with gear drive way directly, first according to gear surface contact fatigue strength design and calculation, and then checked for fatigue broken teeth tooth root bending fatigue strength. In this process also involves gear axle design and axle, gears connect the design of the key and motor choice. KeyWords：Oil pipeline; Walk design; Adapt diameter; Driving principle 目 录 摘 要 ............................................................................................................................ I Abstract ................................................................................