摘要众所周知，管道运输给工业、农业以及日常生活的物质和信息传递提供了许多的 便捷，但由于管道锈蚀、老化、漏孔、淤积堵塞，管道运输对生产生活带来巨大的影 响。为了更加经济地完成管道的检测、故障诊断、修复，特种管道机器人成为一种极 其有效可行的工程方案。

本文针对通过管道内径为 160~250mm 的小型管道智能检测机器人的机械结构进 行研究。所设计管道机器人载荷超过 200N，移动速度大于 100m/min，解决了传统管 道机器人牵引力不足，负载能力差的问题。83771

本文在国内外现有小型管道机器人工作原理以及关键技术分析总结的基础上，提 出了链式多单元主动螺旋式管道机器人的设计思想。首先，根据管道机器人功能需求， 设计了管道机器人的多种传动方式、移动方式、行走机构、张紧机构以及主体机构； 分析对比其优缺点，得出了管道机器人机械设计部分的总体方案。其次，根据设计方 案和设计要求对管道机器人的行走机构、机体机构、张紧机构三部分进行了详细的机 械设计计算及校核，得到了管道机器人机械结构解决方案。然后，对机器人负载能力、 运行速度以及越障能力进行分析，完成机器人性能进行分析和评价。最后，运用 Creo 软件对管道机器人进行建模、装配、运动仿真以及运动干涉分析，为物理样机的试制 提供了参考。

毕业论文关键字：管道机器人；链式多单元；主动螺旋；运动仿真

ABSTRACT As we all know, pipeline provides a lot of convenience for mass and message transfer in industry, agriculture and daily life。 However, the pipeline transportation impacts on the production and living seriously as a result of the pipeline corrosion, aging, leak, siltation clogging。 In order to complete pipeline detection, fault diagnosis, repair more economically, Special pipe robot has become an extremely effective and feasible engineering solutions。

In this paper, the intelligent inspection robot (mechanical structure part) of the small pipe with the diameter of 160~250mm is studied。 The design of the pipeline robot load more than 200N, moving speed is greater than 100m/min, has solved the problem of traditional pipeline robot traction power shortage, poor load capacity。

Based on the operational principle of micro-pipe robot existing at home and abroad and the analysis of crucial technique, this paper puts forward such a designing idea about chain multiple-unit screw initiatively type pipeline robot。 Analyzed and compared the advantages and disadvantages of many ways of Transmission mode, driving mode and running mode on the basis of function requirements of pipe robots, the general scheme of the mechanical design of the pipeline robot is designed。 Furthermore, according to the design scheme and design requirements, mechanical design for waking mechanism, body mechanism and tensioning mechanism of pipe robot are calculated and checked。 Then, the performance evalution of pipe robot is completed, whih is based on the analytic result of load capacity, speed and climbing ability。 Finally, the robots is modeled, assembled, and made operation simulation and motion interference analysis。 It provide information for trial manufacture of physical prototype。

Keywords: pipe robot; chain multiple-unit; screw initiatively; motion simulation

目 录

第一章绪论 1

1。1概述 1

1。2国内外管道机器人研究现状 2

1。3管道机器人研究存在的问题 4

1。4研究的目的意义 5

1。5研究内容