<p>高壓輸電線巡檢機器人的機械設計【優(yōu)秀課程畢業(yè)設計+含ug三維3d建模及3張CAD圖紙+帶任務書+48頁加正文2.02萬字】-jxsj22</p><p>【詳情如下】【需要咨詢購買全套設計請加QQ1459919609】</p><p>A0裝配圖.dwg</p><p>A3大臂.dwg</p><p>A3驅動輪.dwg</p><p>ug</p><p>zong zhuang pei.stp</p><p>中期檢查表.doc</p><p>任務書.docx</p><p>仿真.WMV</p><p>封面.docx</p><p>打印.pdf</p><p>文件清單.txt</p><p>答辯ppt.ppt</p><p>設計說明書.docx</p><p>摘要</p><p>隨著機器人的研發(fā)和應用范圍逐漸擴大，將機器人技術使用于高壓線的普通檢測和修護受到技術學者的學習和研究。巡檢機器人在復雜的輸電線背景下完成檢線任務，要具有自主完成跨越線路上的各種障礙能力。因此，巡檢機器人的本體結構決定著巡檢機器人的現(xiàn)實功能，也是決定著巡檢機器人實用性和便捷性的關鍵技術之一。</p><p>所以本文對國外和國內刊登的巡檢機器人的機械結構進行了匯總描述，并在熟悉他們的研究后研究出了創(chuàng)新型的檢線機器人的本體結構，本論文以輸電線的相線為工作途徑，使用三手臂加單獨總體箱的形式，機器通過機械臂手輪抓結構懸吊于線路上，可以根據(jù)相線的線路實體，選擇滾動的輪子為行駛方式或者遞進爬行方式實現(xiàn)在線路上移動，遇到線路上的異物時，也可通過三手臂的相互交換運動越過障礙物，繼續(xù)前行。</p><p>本論文采用了雙臂在一側的懸掛是本論文設計的另一特點，因此在工作時可將機器人懸掛于線路一側，避免了線路上其他的設施對機器人線上作業(yè)進行阻擾。本設計所述巡檢機器人本體結構較簡單明了，容易實施操控和使用，對線路工作的具體實施環(huán)境具有很好的能力去適應。</p><p>關鍵詞：高壓輸電線；巡檢機器人；越障；強度校核；機械手臂；</p><p>ABSTRACT</p><p>&nbsp; &nbsp;With the development and application of the robot is gradually expanding, and repair the ordinary detection robot technology used in high-pressure line technology by scholars to study and research. The transmission line inspection robot in complex background check line to complete tasks, with independent ability of various obstacles on the line. Therefore, the body structure of robot&#39;s decision a practical function of the inspection robot, but also determines the key technology of inspection robot is practical and convenient.</p><p>&nbsp; So the mechanical structure of the foreign and domestic published inspection robot are summarized and described in the familiar after their research .developed the body structure of wire inspection robot innovative, this paper takes phase transmission lines for the work, the use of three single arm and total body box in the form of the machine through the arm the hand wheel structure of catching suspended in the line, according to phase line entity, the choice of rolling wheels on the road for the realization of online mobile or progressive crawling driving, something on the line, but also through the three arm exchange movement over obstacles, move on.</p><p>This paper used the arms is another characteristic of this paper is on the side of the suspension, so the work can be hung on the side of the robot line, to avoid the line of other facilities to block the robot online homework. The design of inspection robot body structure is simple and clear, easy to control and use. The specific implementation environment on line work has a good ability to adapt.</p><p>&nbsp;Key word：High voltage transmission line; inspection robot; obstacle surmounting; strength check; mechanical arm;</p><p>目錄</p><p>第一章 緒論<span class="Apple-tab-span" style="white-space:pre"></span>1</p><p>1.1設計的背景和意義<span class="Apple-tab-span" style="white-space:pre"></span>1</p><p>1.2國內外研究現(xiàn)狀分析<span class="Apple-tab-span" style="white-space:pre"></span>1</p><p>1.3國內的發(fā)展狀況<span class="Apple-tab-span" style="white-space:pre"></span>4</p><p>1.4機器人本體結構需要解決的一些關鍵問題<span class="Apple-tab-span" style="white-space:pre"></span>6</p><p>1.5本文的主要研究內容<span class="Apple-tab-span" style="white-space:pre"></span>7</p><p>第二章巡檢機器人的工作環(huán)境和原理分析<span class="Apple-tab-span" style="white-space:pre"></span>7</p><p>2.1高壓輸電線的特點和組成<span class="Apple-tab-span" style="white-space:pre"></span>8</p><p>2.1.1高壓輸電線路的特點<span class="Apple-tab-span" style="white-space:pre"></span>8</p><p>2.1.2高壓輸電線路的組成<span class="Apple-tab-span" style="white-space:pre"></span>8</p><p>2.2高壓輸電線的巡檢內容及原理<span class="Apple-tab-span" style="white-space:pre"></span>10</p><p>2.3 高壓線巡檢機器人的設計要求<span class="Apple-tab-span" style="white-space:pre"></span>12</p><p>2.4巡檢機器人整體設計方案的選擇<span class="Apple-tab-span" style="white-space:pre"></span>12</p><p>2.5 本章總結<span class="Apple-tab-span" style="white-space:pre"></span>15</p><p>第三章 高壓線巡檢機器人的結構設計<span class="Apple-tab-span" style="white-space:pre"></span>16</p><p>3.1巡檢機器人整體設計方案的選擇<span class="Apple-tab-span" style="white-space:pre"></span>16</p><p>3.2柔性臂<span class="Apple-tab-span" style="white-space:pre"></span>17</p><p>3.3驅動部件的選擇<span class="Apple-tab-span" style="white-space:pre"></span>19</p><p>3.3.1垂直導軌步進電機的計算選型<span class="Apple-tab-span" style="white-space:pre"></span>20</p><p>3.4主要部件的設計<span class="Apple-tab-span" style="white-space:pre"></span>21</p><p>3.4.1滾輪部分<span class="Apple-tab-span" style="white-space:pre"></span>21</p><p>3.4.2中手腕部分<span class="Apple-tab-span" style="white-space:pre"></span>22</p><p>3.4.3手掌部分<span class="Apple-tab-span" style="white-space:pre"></span>23</p><p>3.4.4大臂部分<span class="Apple-tab-span" style="white-space:pre"></span>23</p><p>3.4.5小臂部分<span class="Apple-tab-span" style="white-space:pre"></span>24</p><p>3.4.6箱體部分<span class="Apple-tab-span" style="white-space:pre"></span>25</p><p>3.4.7輪子開合軸<span class="Apple-tab-span" style="white-space:pre"></span>26</p><p>3.4.8手腕部分<span class="Apple-tab-span" style="white-space:pre"></span>26</p><p>3.4.9搖桿部分<span class="Apple-tab-span" style="white-space:pre"></span>27</p><p>3.5.0總體三維設計圖<span class="Apple-tab-span" style="white-space:pre"></span>28</p><p>3.6本章總結<span class="Apple-tab-span" style="white-space:pre"></span>30</p><p>第四章 高壓線巡檢機器人運動分析和強度校核<span class="Apple-tab-span" style="white-space:pre"></span>31</p><p>4.1巡檢機器人沿線爬行的運動分析<span class="Apple-tab-span" style="white-space:pre"></span>31</p><p>4.2高壓線巡檢機器人越障作業(yè)的運動分析<span class="Apple-tab-span" style="white-space:pre"></span>31</p><p>4.2.1跨越防震錘的運動分析<span class="Apple-tab-span" style="white-space:pre"></span>32</p><p>4.2.2定臂轉動的運動分析<span class="Apple-tab-span" style="white-space:pre"></span>34</p><p>4.3主要零部件的強度校核<span class="Apple-tab-span" style="white-space:pre"></span>36</p><p>4.3.1絲桿的強度校核<span class="Apple-tab-span" style="white-space:pre"></span>36</p><p>4.3.2齒輪的校核<span class="Apple-tab-span" style="white-space:pre"></span>37</p><p>4.3.3大臂的強度校核<span class="Apple-tab-span" style="white-space:pre"></span>39</p><p>第五章 總結與展望<span class="Apple-tab-span" style="white-space:pre"></span>41</p><p>5.1論文的主要工作和結論<span class="Apple-tab-span" style="white-space:pre"></span>41</p><p>5.2展望<span class="Apple-tab-span" style="white-space:pre"></span>41</p><p>致謝<span class="Apple-tab-span" style="white-space:pre"></span>43</p><p>參考文獻<span class="Apple-tab-span" style="white-space:pre"></span>44</p><p><img src="http:/www.szxfmmzy.com/ueditor_s/net/upload/2017-6/19/6363346689430311035074488_1.gif" style="float:none;" title="A0裝配圖.gif"/></p><p><img src="http:/www.szxfmmzy.com/ueditor_s/net/upload/2017-6/19/6363346689489591133258390_1.gif" style="float:none;" title="A3大臂.gif"/></p><p><img src="http:/www.szxfmmzy.com/ueditor_s/net/upload/2017-6/19/6363346689509871178027611_1.gif" style="float:none;" title="A3驅動輪.gif"/></p><p><img src="http:/www.szxfmmzy.com/ueditor_s/net/upload/2017-6/19/6363346689536391217713814_1.jpg" style="float:none;" title="三維裝配圖.jpg"/></p><p><img src="http:/www.szxfmmzy.com/ueditor_s/net/upload/2017-6/19/6363346689598791327654378_1.jpg" style="float:none;" title="設計字數(shù)統(tǒng)計.jpg"/></p><p><br/></p>