摘要在工农业生产及日常生活中，管道应用范围极为广泛。在新建管道的使用前，往往需要通过测试合格才能正式投入使用，而使用过程中又会产生管道堵塞、故障与损伤等诸多问题，需要定期维护、检修等。但管道所处的环境往往是人们不易达到或者不允许人们直接进入的，所以开发管道机器人、测试车就显得尤为重要。63240

以设计专用变径管道测试车为研究目标，根据其工作环境和技术要求设计了一种可使用Φ180mm～Φ200mm管径变化的管道测试车。该管道测试车采用三组完全一致且沿圆周均匀布置的行星轮运动机构作为行走部件。机器人本体由驱动电机、机架、电机座、蜗杆、三组完全相同的行走部件以及尾座部件组成。其中行走部件包括太阳轮、两个行星轮、L型连杆以及行走轮。为了与管壁更好贴合, 行

走轮还采用了弧形表面设计。尾架部件则由电机尾架、辅助行走轮等组成。在电机和蜗杆的驱动下, 行走部件在带动机器人本体前进的同时, 还可以绕其轴线摆动, 因而能改变机器人的径向尺寸, 使之能在一系列直径不同的管道中工作。而尾架部件则起到辅助支撑作用, 使机器人本体保持轴向平衡。本次设计主要对管道测试车进行结构设计，利用三维参数特征建模软件Pro/Engineer建立了测试车的三维模型，生成了机器人主要零部件的工程图。对测试车中的主要机构进行动态仿真，验证了所设计机构的正确性，最后对主要零部件进行了设计校核计算，并简单叙述了测试车的控制方案。

毕业论文关键词：变径管道测试车；机构设计；行星轮机构

毕业设计说明书（论文）外文摘要

Title  Special Tapered Pipeline Test Vehicle Design

Abstract

In the industrial and agricultural production and daily life, pipeline is used very widely. In the use of the new pipeline, often need to pass the test qualified to officially put into use, and use process will produce pipe blockage, fault and damage and other problems, need regular maintenance, maintenance etc.. But the pipeline environment is often not easy to achieve or don't allow people to enter directly, so it is very important to the development of the pipeline robot, test vehicle.

In order to design special stepped-diameter pipeline test vehicle as the research object, according to its working environment and technical requirements for use of Φ 180mm Φ 200mm to pipe diameter change test vehicle design. The test car adopts the planetary wheel movement mechanism of three groups of identical and symmetrically arranged along the circumference of the travel unit. Robot driven by walking parts, frame, motor, motor, worm, three sets of identical and the rear seat components. The walking component includes a sun gear, two planetary wheels, L type connecting rod and a walking wheel. In order to better fit with the tube wall, li

Go round also adopts the design of arc surface. The tailstock component is composed of motor tail frame, auxiliary walking wheel etc.. The drive motor and worm, walking components in to drive the robot body to move forward at the same time, also can swing around its axis, the radial size and can change the robot, which can work in a series of different diameter pipe. And the tail-stock components is an auxiliary supporting function, so that the robot maintains axial balance. The design of the main structure design for the test vehicle, a three-dimensional model of the test vehicle using three-dimensional feature modeling software Pro/Engineer, generating the main parts of the robot engineering drawings. The dynamic simulation of the main body of the test car, verify the correctness of the design of mechanism, the design of main parts of the calculation, and simply describes the control scheme of the testing vehicle.