【作者】 李志勇；

【导师】 张有忱；

【作者基本信息】 北京化工大学 ， 化工过程机械， 2012， 硕士

【摘要】 在现代石油工业、核工业以及生活设施中,管道作为一种高效的物料输送手段而得到越来越广泛的应用。但管道在使用过程中,由于人为的或地质活动以及长期腐蚀,导致管道损坏、老化、机械性断裂及破损等故障,给国家和人民带来巨大的经济损失,于是,管道机器人应运而生。作为一种针对性较强的特种机器人,很好的解决了海底和地下管道检测困难的问题,在管道安全与维护工程中具有不可替代的作用。本文通过对现有管道爬行器常用的运动方式进行对比与分析,包括介质压差驱动和自主驱动,自主驱动又有轮式、履带式、蠕动式、多足爬行式、压电冲击式、蛇形仿生式等六种方式,并结合管道应用特点,提出了介质压差驱动与直轮驱动相结合的新型驱动方式,并对管径适应结构进行了改进设计,提出了管道爬行器总体的设计方案,主要结构包括变径适应机构、驱动行走机构、从动行走机构和伞状挡水翼机构和分流阀结构。这种设计结构的特点是：可以较大程度的适应管径变化,充分利用流体能量,结构简单,成本低,制造方便,使用寿命长,无需拖带缆线,运动阻力小,可以通过搭载相应的工具完成对长距离管道的检查、检测等任务。对爬行器进行了运动力学分析,并且利用Pro/E进行了三维建模,利用ADAMS进行了运动仿真分析,验证了理论分析结果,为此类管道爬行器后续的开发打下了基础。更多还原

【Abstract】 In the modern oil industry, nuclear industry, and living facilities,pipelines are more widely used as an efficient means of material handling.But In the course of used, due to man-made or geological activity andlong-term corrosion, resulting in pipe damage, aging, mechanical breakageand damage failure, which Bring enormous economic losses to the countryand the people. Therefore, the pipeline robot came into being. As a highlytargeted special robot, it is very good to solve the difficult problems ofsubmarine and underground pipe inspection, and play an irreplaceable role inpipeline safety and maintenance works.In this paper, through comparison and analysis of the existing pipelinecrawler, which including medium differential pressure-driven and self-driven,self-drive there are six ways of wheeled, tracked, creeping, multi-leggedcrawling, piezoelectric impulse, snake bionic type. Think of the features ofpipeline, a new program which combined differential pressure-driven anddirect-wheel-drive drive was designed. The main structure includes pipediameter adaptive structures, driving structure, the driven structure andumbrella shaped blades structure and the diverter valve structure. The design features of this structure A greater degree of adaptation diameter changes,and make full use of fluid energy, simple structure, low cost, easy fabrication,long work life, without the towing cable, the resistance movement is small,and it can be equipped with appropriate tools to complete the long-distancepipelines to check, testing and other tasks. Then do movement mechanicsanalysis on the crawling, conducted a three-dimensional modeling by Pro/E,do motion simulation analysis by ADAMS, verify the theoretical analysisresults, laid the foundation for the subsequent development of such crawler.更多还原