毕业论文移动版

摘要：一种两栖管道探测机器人是分别由框架组件、陆路移动组件、水路移动组件、车轮升降组件、开合板开合组件和摄像组件等六部分组成。该两栖管道探测机器人能够在干燥或含有大量水的管道内移动，拍摄需探测管道内的图像，机器人在管道内移动时，能够自动转弯。本设计一种两栖管道探测机器人便于人们对干燥或含有大量水的管道的缺陷探测，减少了管道内壁探测的人工作业量，提高了探测管道缺陷的效率，能够适应大范围变化的管径。该两栖管道探测机器人不仅克服了现有管道探测技术中所存在的探测机器人在管道内部打滑、用于图像采集的摄像头高度不能调整、管道探测机器人无法在一些管道段落含有大量积水的工况下进行工作、不能同时满足能在完全干燥的管道和含大量水的管道内工作并适时地根据所需探测管道内部的具体工作情况进行水陆工作模式切换的不足。

关键词：两栖；管道探测；机器人；水陆模式切换

Abstract：An amphibious pipe detection robot is composed of six parts: frame component, land moving component, water moving component, wheel lifting component, opening and closing board opening and closing assembly and camera assembly. The amphibious pipe detection robot can move in a pipe that dries or contains large amounts of water, and takes an image of the pipe to be detected. The robot can turn freely when it moves within the pipe. The design of a amphibious pipe detection robot to facilitate the dry or contain a lot of water pipeline defects detection, reducing the pipe wall detection of artificial work, improve the efficiency of the detection pipeline defects, to adapt to a wide range of changes in diameter. The amphibious pipeline detection robot not only overcomes the existing pipeline detection technology in the detection of robots inside the pipeline slippage, for the image acquisition camera height can not be adjusted, the pipeline detection robot can not be in some pipe paragraphs contain a lot of water under the conditions It is possible to cope with the shortage of water and land working mode switching in a fully dry pipe and a pipe containing a large amount of water and timely depending on the specific operation of the pipe to be detected.

Keywords：Amphibious; Pipeline detection; Robot; Land and sea mode switching

目录

第一章绪论 1

1.1概述 1

1.2选题意义 1

1.3选题背景 2

1.3.1国外背景 3

1.3.2国内背景 4

第二章两栖管道探测机器人方案设计 6

2.1两栖管道探测机器人工况分析 6

2.2两栖管道探测机器人设计要求 6

2.3两栖管道探测机器人设计方案 6

2.3.1框架组件 6

2.3.2陆路移动组件 7

2.3.3水路移动组件 7

2.3.4车轮升降组件 7

2.3.5开合板开合组件 8

2.3.6摄像组件 9

2.3.7传感器组件 9

第三章两栖管道探测机器人选材、选型 11

3.1框架组件 11

3.2陆路移动组件 11

3.3水路移动组件 (责任编辑：qin)