摘要：管道机器人广泛应用于能源，环保及其相关领域。近年来随着海洋能源开采日益增长，以及污水排放和处理越来越受到国家关注，管道的使用也是与日俱增，管道的使用必定带来管道的检测，清理，修复等问题，在长度较长，口径小的管道里，光靠人力已经不是最优解决方案，各种管道机器人的需求越来越大，结构性能的要求也越来越高。

本课题主要是对一种爬行式管道探测机器人的结构进行设计，通过三维，二维软件画出模型，校核计算其关键结构的刚度和强度，并通过有限元分析重要零件，分析研究结构然后进行优化。

本文研究国内外管道机器人的发展现状并进行总结分析，按照课题要求，采用负压吸附方式，将机器人吸附在管道上部运动，通过履带结构，两带的速度差达到转弯目的，并且设计可以360°对管道进行拍摄，达到检测目的。该管道检测机器人的设计可以大大加快对管道的检测效率，并很好地解决了管道底部积水和污渍堆积问题。

关键词：管道机器人；负压式；结构设计；三维模型

Abstract：Pipeline robots are widely used in energy, environmental protection and related fields. In recent years, with the growing energy consumption of marine energy, as well as sewage discharge and treatment more and more attention by the state, the use of the pipeline is increasing, the use of pipelines will bring the pipeline detection, cleaning, repair and other issues, in the longer length Small pipes, the reliability of human resources is not the best solution, the demand for a variety of pipeline robots growing, structural performance requirements are getting higher and higher.

In this paper, the structure of a creep-type pipeline detection robot is designed. The model is calculated by three-dimensional and two-dimensional software. The rigidity and strength of the key structure are calculated and the important parts are analyzed by finite element analysis. To optimize.

In this paper, the development status of pipeline robots at home and abroad is analyzed and summarized. According to the requirements of the project, the robot is adsorbed on the upper part of the pipeline by the negative pressure adsorption method. Through the track structure, the speed difference between the two belts can reach the turning target and the design can be 360 ° The pipeline to shoot, to detect the purpose. The design of the pipeline detection robot can greatly speed up the detection efficiency of the pipeline, and a good solution to the bottom of the pipeline water and dirt accumulation problem.

Key words: Pipe robot; negative pressure type; structural design; 3D model

目录

第一章绪论 1

1.1研究背景 1

1.2管道机器人结构优化设计的研究现状与发展 1

1.3管道机器人的特点 3

1.4管道机器人所带来的机遇与挑战 3

1.5本章小结 4

第二章爬行式管道检测机器人的结构设计 5

2.1机器人的摄像组件结构 5

2.1.1摄像组件方案选择及工作原理 5

2.1.2摄像头及舵机等零件选型 9

2.2机器人的移动组件结构 10

2.2.1移动组件方案选择及工作原理 10

2.2.2电机选择 14

2.2.3传动零部件选择 15