履带管道机器人——毕业设计

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1、᪎㾷䲿⵰、ᆖᢰᵟⲴਁኅˈᵪಘӪⲴᓄ⭘ᐢ㓿Ӿᇎ傼亶ฏᡆঐࡠަԆ亶ฏ৺ӪԜⲴᰕᑨᐕ֌⭏⍫ѻѝDŽ൘ḀӋ⢩ᇊⲴ⧟ຳл֌ъˈ䈨ྲ儈঻ǃᰐ≗ᡆ㞀㲰Ⲵᚦ࣓ᶑԦлई[1]⍻ㅹㅹˈᵪಘӪ䜭ਁᥕࠪҶᐘབྷⲴ֌⭘DŽንᑖᔿᵪಘӪ㜭ཏᶱྭⲴ䘲ᓄཊਈⲴ䐟䶒⧟ຳˈ㜭ཏᇎ⧠䘌䐍⿫傡ࣘˈᒦф⢥ᕅ࣋Ո㢟DŽሩ࣐ᕪ൘ᔪ઼൘ᖩ䘀䗃㇑䚃ⲴỰ⍻઼ᨀ儈㇑䚃䘀䗃Ⲵᆹޘᙗᴹ⵰⢩࡛䟽㾱Ⲵ᜿ѹDŽᵜ䇮䇑ሶᵪಘӪǃՐᝏಘǃᰐ㓯䙊ؑㅹᢰᵟᴹᵪⲴ㔃ਸˈᇎ⧠Ҷሩཙ❦≄㇑䚃Ⲵ⧟ຳ৺⑙ᓖ䘋㹼ᴹ᭸ᇎᰦⲴⴁ⍻ˈѪỰ؞Ӫઈᨀ׋ҶᖸཊᯩׯDŽᵜ䈮仈ѫ㾱䪸ሩንᑖ㇑䚃ᵪಘӪⲴ㔃ᶴ䘋㹼䇮䇑ˈ䟷⭘⢩↺Ⲵ঻㍗㔃ᶴˈᗇᵪ[2]ಘӪ㜭ཏ൘਴⿽ᯩੁⲴ㇑䚃䘋㹼㹼䎠ˈᒦާ

2、ᴹаᇊⲴ䎺䳌㜭࣋ˈᇎ⧠Ҷ㇑䚃޵䙊㹼亪⭵ⲴⴞⲴDŽ൘ᵪಘӪⲴ᧗ࡦ䇮䇑ѝˈᇎ⧠ᵪಘӪокսᵪᰐ㓯᭦ਁⲴؑ᚟ӔӂDŽަѝˈ᭦ਁ⁑ඇᱟสҾnRF905ሴ仁᭦ਁ㣟⡷ˈ⑙ᓖ䟷䳶㣟⡷䘹⭘DS18B20઼䶎᧕䀖ᔿ㓒ཆ⑙ᓖՐᝏಘMLX90601EZA-CAADŽ䙊䗷ሩ㌫㔏Ⲵ⍻䈅৺⴨ޣ᮷⥞ˈᵜ䈮仈¯ንᑖᔿ㇑䚃ᵪಘӪ㻵㖞āᮤփ㔃ᶴ䇮䇑↓⺞ˈ਴࣏㜭⁑ඇⲴ䖟⺜Ԧ䇮䇑ǃᩝ䝽ㅖਸ㾱≲ˈ䘀㹼っᇊˈสᵜ┑䏣ᓄ⭘䴰≲DŽީ䭤ᆍφኛᑜᕅ㇗䚉ᵰಞӰ⑟ᓜՖ᝕ಞAbstractWiththedevelopmentofscienceandtechnology,theapplicationofrobotshasbeeninth

3、efieldofexperimentorinotherareasandpeople'sdailyworkandlife.Insomespecificenvironments,suchashighpressure,oxygenfreeorcorrosionunderharshconditions,etc.,therobothasplayedahugerole.Trackedrobot[1]canadapttothechangingenvironment,canachievelongdistancedrive,andthetractionforceisexcellent.It

4、isparticularlyimportanttostrengthenthedetectionandimprovethesafetyofpipelinetransportationintheconstructionandinservicetransportationpipeline.Thedesignoftherobot,sensors,wirelesscommunicationtechnology,suchasorganiccombination,toachieveanaturalgaspipelineenvironmentandtemperatureforeffect

5、ivereal-timemonitoring,toprovidealotofconvenienceforthemaintenancepersonnel.Thistopicmainlyforcrawlerpiperobotstructuredesign,usingspecialpressingstructure,enablestherobottowalkforpipelineinvariousdirections,andhascertainabilityofobstaclesurmounting[2],thepipelinepasssmoothly.Inthecontrol

6、designoftherobot,theinformationexchangebetweentherobotandthehostcomputerisrealized.Amongthem,thetransceivermoduleisbasedonthenRF905RFtransceiverchip,temperatureacquisitionchipselectDS18B20andnoncontactinfraredtemperaturesensorMLX90601EZA-CAA.Throughthetestofthesystemandtherelatedliteratur

7、e,thistopiccrawlerpiperobotdevicedesignoftheoverallstructureoftheright,eachfunctionmoduleofthesoftwareandhardwaredesign,collocationtomeettherequirements,stableoperation,basicallymeettheapplicationrequirements.Keywords:crawler-typepipelinerobottemperaturesensorⴤᖋㅜаㄐ㔚