火炮膛内拍照机器人方案设计及联合仿真机器人方案设计及仿真分析
本文设计的机器人分为主体、行走机构、驱动机构、传动机构、变径机构等模块。结合一般管道机器人特点，设计出的机器人为圆筒状，利用单片机控制步进电机的旋转带动蜗杆转动，通过蜗轮蜗杆和同步带轮机构将旋转运动准确、稳定地传递到行走轮上，实现定位，停止，行走等功能。内置丝杠螺母调节结构可以满足不同口径的炮管拍摄任务要求；“三爪定心“式的支撑方式确保了机器人与炮管轴线的一致性，确保了拍摄质量；加入柔性调节装置以防遇见炮管内复杂工作情况时出现”卡死“等现象。
本文在设计过程中运用pro/e对膛内拍照机器人各零部件进行三文建模，根据其仿真结果对各零件进行修正，保证了运动过程中不发生干涉，最后给出了整体装配图。另外，采用实体单元和板壳单元对机器人的主要连接杆体和本体进行有限元的静态特性分析，对应力集中点和位移偏移点进行了结构上的修改建议。20771
关键词 膛内拍照机器人 方案设计 单片机控制 三文建模 有限元分析
毕业论文设计说明书（论文）外文摘要
Title Design and Combined Simulation of Photoing Robot in Bore—Program Design and Simulation Analysis of the Robot
Abstract
Bore test can know the damage of the tube which helps repair work.Most bore test adopt traditional abservation called "artificial push position". To deal with the traditonal problem of the low precision and automation, a photoing robot test system with a CCD camera,is given in this paper.
The robot system is pided into many modules,including the main,the walking mechanism,the driving mechanism,the transmission mechanism and the reducing mechanism.This paper designs a cylindrical robot refering to characteristics of general pipe robots.The robot controls the step motor to rotate with SCM.And the robot realizes the functions of positioning,stopping and walking by transforming the movement from the worm mechanism and synchronous belt wheel mechanism to the wheel accurately and steadily.In addition,the screw mechanism can make structure meet different diameters of bore;"three jaw centering" mechanism support the consistency of the robot’s and bore’s barrel axis which can assure the photoing quality;the flexible adjustment mechanism prevent stucking even meeting some special casees.
This paper used three-dimensional software Pro/E to get the inpidual components.According to the simulation results,the robot is modified to prevent the interference.In the end,the whole assembly model is given.After that,this paper uses the solid element and shell element to analyses the static characteristics of robot structure by finite element analysis software.Then we give some advise to de structure.
Keywords Bore test robot Mechanical structure SCM 、Three-dimensional mode Finite element analysis
目 次
1引言 3
1.1本课题研究的目的及意义 3
1.2国内外管道机器人发展现状 3
1.3三文实体建模方法 4
1.4有限元分析发展现状 5
2膛内拍照机器人设计 6
2.1总体方案设计 6
2.2机器人本体 6
2.3行走机构 10
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