【作者】 张涛；

【导师】 潘毓学； 邓宗全；

【作者基本信息】 长春理工大学 ， 机械设计及理论， 2004， 硕士

【摘要】 基于对长距离管道在线检测的目的，在总结传统的管道在线检测机器人的基础上，利用管道中介质流动产生的驱动力，确定了一种新型管道内径在线检测机器人的设计方案，减少了机器人的动力源装置，使在线检测机器人设计简单化，降低了经济成本。 论文首先对管道内径在线检测机器人进行方案设计，经分析比较后提出了一种较佳方案，并根据此方案对机器人作了结构设计。 论文运用流体力学的知识对管道内径在线检测机器人的行走特性进行了研究，提出了使机器人在潜体状态下能够保持稳定运行的方法。用Pro／Engineer2001软件对机器人机构进行了三维实体建模，并运用动态仿真软件对机器人在管道变形处的运动情况了动态仿真，进一步验证了设计思想的正确性。 最后，研究了管道内径在线检测机器人的检测方法，给出了超声波测距的数据采集方法和数据通信的基本方案，为管道内径在线检测机器人系统的实现打下了坚实的基础。更多还原

【Abstract】 A kind of new-type project on the robot measuring the internal diameter of the long distance pipeline online is put forward on the basis of summarizing the traditional robot measuring the pipeline online. The robot is driven by the power generated by the medium flowing in the pipeline, thus simplify the design and reduce the cost by cutting the dynamical equipment.In this paper, the author present a kind of better scheme after analyzing and comparing the scheme on the pipeline robot of measuring the internal diameter online at first, then design the structure of the pipeline robot according to this scheme.The author carry through the research on the stepped-characteristic of the robot using hydro-mechanical knowledge, put forward the method that make the robot can keep operating steadily under the state of diving the body. At the same time, build the three-dimensional entity’s modeling of the structure of the robot using Pro/Engineer2001 software and complete the dynamic simulation of the movement state in the distortion position of the pipeline using dynamic simulate software, so the correctness of the design is proven.Finally, The author study the robot-detection method of measuring the internal diameter of the pipeline online, describe the data acquisition method provided by ultrasonic wave and the basic scheme of data communication and lay a solid foundation for the realizing the robot-system of measuring the internal diameter of the pipeline online.更多还原