Abstract
In this thesis,a fluid-driven adjustable speed robot,the robot body composition by the two cells before and after,the first unit cell contains the governor body,drive mechanism,support institutions,seals; after the unit cell contains for energy device,the meter installation,support agencies,the control system; before and after the body of the two units connected by a universal joint.The robot in the pipeline flow of fluid medium pressure difference before and after the propulsive force generated by the realization of independent walking,and controlled through the speed disk structure to change the size of the opening pressure before and after difference,to achieve the expected speed control.The pipeline robot,compared with the general salient features of pipeline robot is:⑴ fluid drive,⑵ speed is adjustable.These characteristics for long-distance pipeline robot to complete specific tasks operation is of great practical value.
This thesis research in the following areas:
1.Drive the overall structure and design of speed control device;
⑴ drive mechanism design
⑵ speed mechanism design
2.Tube support structure design;
3.Seal design;
4.The meter device design.
The results of this thesis is to complete the structural design of pipeline robot,so that the pipeline robot to the media in the corresponding flow of energy through the pipeline to achieve self-moving,and moving speed can be preset.Specific tasks to complete long-distance pipeline robot operations design and development of the industry,provides an innovative ideas and approaches,and its related products will have broad market prospects.