一种管道机器人爬行机构的型、数及尺度综合与分析-机械制造及其自动化专业论文.docxVIP

西南科技大学硕士研究生学位论文第l页摘要本论文在充分了解管道机器人研究现状的基础上，对管道机器人现有的几种机构进行了分析研究，并提出了一种新型的管道机器人爬行机构。论文以机构综合为主要研究对象，通过机构选型、机构设计等研究内容， 结合现有的双曲柄滑块机构和平行四边形机构，综合出了一套新型的机构： 该爬行机构是由多个连杆机构组合而成，机构以对称的对心式双曲柄滑块机 构的倒置、变异机构为主体机构，结合以平行四边形机构为基础变异而来的 单向行走机构，最终综合出了管道机器人的爬行机构本体。同时制定了机构 本体的爬行、变径方案，在此基础上对机构本体开展了尺度综合的研究工作， 确定了机构本体的主要运动参数、重要的结构尺寸等问题。最后在理论研究 的基础上，用ADAMS软件对机构本体进行了仿真工作，验证了机构本体及 其运行方案的可行性。所综合出的机构本体能够实现在管道内行走及换向的功能、管径自适应 功能和自锁功能。其机构简单、行走可靠，故有很强的实用性。关键词：管道机器人机构综合单向机构管径自适应AbstractBased on understanding the researching status of the pipeline robot fully， researched and analysised several existing mechanism of the pipeline robot，this paper proposed a new type of pipeline robots’s crawling mechanism·This paper，s main research content is synthesis of mechanism，via selectingmechanism，contrasting between different types of mechanisms，designing of configuration of the mechanism，combined with existing slider。crank mech锄smand paralielogram institutions，it synthesized a new type of mechanism：the crawlin空mechanism is made up of some linkage mechanism，taking inVerted and variant mechani sm of in．1ine double slider—crank mechanism as a mainstaymechanism，combining with unilateral crawling mechanism，which was deslgnedformed aof paraliel quadrilateral institutions as a basic mechanism，it eventuallymain crawling mechanism of pipeline robot．At the same tlmethe pape‘developed a program of crawling and reducing obstacle of main mechanlsm， basing which：it carried out the research on dimensional synthesis of the maln mechanism，confirmed the main kinematic parameters，the necessary structuralsize of this main mechanism．Finally，combining with computer slmulatlon otmechanismADAMS，the paper validated the theoretical feasibility of the malnand its operation program·．．The svnthesized main mechanism can achieve the functions of crawling and1sreversing、Pipe diameter adaptive、self-locking．Its structure 1S slmple，crawIreliable。and therefore this mechanism has very high practical value．Key wo r d s：pipeling；robot；mechanism synth