毕业设计（论文）-牵引机器人的驱动系统结构的研究.doc

哈尔滨工业大学华德应用技术学院毕业论文- PAGE 1 - 摘 要 本文是以水平井牵引机器人为研究对象展开工作的，主要是对牵引机器人的驱动系统结构进行设计。水平井牵引机器人具有运输方便、操作简单、输送位置准确等优点，大大降低了井下作业成本水平井牵引机器人作为用于水平井服务最为经济的输送工具越来越受到重视，而且已应用于水平井测井、射孔、打捞等作业，因此它的研究和开发有着广阔的应用前景和良好的社会效益。 本文根据油田水平井的实际工作需要，从整体上对牵引机器人的驱动系统结构和动作组件的两大部分进行了分析，介绍了结构的设计和采取的一些措施，通过对不同方案的论证，进一步说明了这种系统结构的特点。本文也有重点的介绍了驱动和动作的工作原理。 本文对整个牵引机器人的驱动系统做了具体的分析，并对一些部件进行了系统的设计，并对驱动部分进行了系统的分析，改善了机器人的机械性能。 关键词　水平井 牵引机器人 驱动系统结构 调节机构 -Ⅰ- Abstract This paper is horizontal traction robot for research object to start working, is mainly to the traction of the robot drive system structure design. Horizontal traction robot has convenient transportation, the operation is simple, accurate location advantages of conveying, and greatly reduce the cost of underground work of horizontal traction robot as used in horizontal well service most economic conveying tools more and more attention, and has been used in the horizontal well logging, perforation, salvage etc homework, so its research and development have broad application prospects and good social benefits. According to the actual need of work of horizontal oilfield, from the whole of the traction robots on the drive system structure and action of the two most component was analyzed, and introduces the structure design and adopt some measures, according to the different schemes of argumentation, further illustrates the system structure characteristics. This article also introduced with emphasis driver and action principle of work. In this paper, the whole traction robot drive system made detailed analysis, and some parts of the system design, and to drive part systematically analyzed, improve the robots mechanical properties. Keywords： horizontal traction robot drive system structure adjusting mechanism -Ⅱ- 目 录 摘要 …………………………………………………………………Ⅰ Abstract ……………………………………………………………Ⅱ 第1章 绪论 …………………………………………………………1 1.1 课题背景 ……………………………………………………1 1.2 国内外水平井发展状况 ……………………………………1 1.3 国内外水平井测试方法概述 ……