北航2016本科毕设-轮式爬杆机器人

北京航空航天大学毕业设计(论文)第I页灵巧轻量化轮式爬杆机构设计摘要本文研究了轮式爬杆机构原理，设计并制作一种轻量化轮式爬杆机构作为2016Robocon北航参赛A机器人的爬杆机构。并实现承载15kg以上总重爬杆，爬升1.5m自璇角度小于3°的技术指标。结合本次比赛的设计要求以及当前可用的资源，本方案最终采用轮式爬杆，抱杆装置由两对三排共六个摩擦轮、连杆和气缸组合而成。抱杆阶段，气缸动作，推杆推动两个机架远离气缸，两对摩擦轮之间的距离减小，抱杆装置整体展开，摩擦轮逐渐贴近立柱，直到抱紧立柱。在立柱被抱紧后，开始上爬阶段，六个电动机同时工作，六个摩擦轮在沿着杆上滚动，向着杆顶运动，达到爬杆的目的。每个轮子都有一个单独的电动机驱动，六个摩擦轮以相同的转速运动，带动机器人上爬到指定高度。本文设计制作的爬杆机构最终可承载28kg总重并以0.3m/s速度爬杆，已达到了已经达到了预期指标，同时满足了本次比赛要求。关键词：爬杆机器人，轮式爬杆机构，机械设计北京航空航天大学毕业设计(论文)第II页DesignofaflexiblelightweightwheeltypeclimbingrodmechanismAuthor:ZijianZhangTutor:TianmiaoWangAbstractInthispaper,theprincipleofwheeltypeclimbingmechanismisstudied.,DesignandmakealightweightwheeltypeclimbingmechanismastheclimbingmechanismintherobotofBUAAinthe2016Roboconrobotcompetition.Andtoachievetheabove15kgweightbearingpoleclimbing,climbingfromthetechnicalindexof1.5mwithlessthan3degreesangle.Accordingtothedesignrequirementsandthecurrentavailableresources,thisprojectadoptsthewheelclimbingpole,whichconsistsofthreepairsoftworowsofsixfrictionwheels,connectingrodsandcylinders.Holdingpolestage,themotionofthecylinder,thepushrodpushtwoframeawayfromthecylinder,reducethedistancebetweenthetwopairsoffrictionwheel,lockroddeviceforoveralldevelopment,frictionwheelgraduallyclosetothecolumnuntilholdcolumn.Inthecolumnisholdandbegantoclimbtothetopofthestage,sixelectricmotorsworksimultaneously,sixwheelfrictionrollalongtherod,towardthetopofthepolemovementtoclimbingrod.Eachwheelhasaseparatemotordrive,thesixfrictionwheelsatthesamespeedofmotion,todrivetherobottoclimbtothespecifiedheight.Thedesignandproductionoftheclimbingrodmechanismultimatelybearing28KGweightandthevelocityof0.3m/spoleclimbinghasreachedthehasreachedtheexpectedtarget,atthesametimetomeettherequirementsofthetournament.Keywords:Climbingrobot,Climbingagencies，Mechanicaldesign北京航空航天大学毕业设计(论文)第III页目录目录...............................................................................................................................................................III1绪论..............................................................................................................................错误!未定义书签。1.1课题背景和目标................................................................................................错误!未定义书签。1.1.1课题背景.................................................................................................错误!未定义书签。1.1.2课题目的与意义.....................................................................................错误!未定义书签。1.2国内外相关研究................................................................................................错误!未定义书签。1.2.1连续运动式爬杆机器人.........................................................................错误!未定义书签。1.2.2步进式爬杆机器人.................................................................................错误!未定义书签。1.3研究内容...........................................................................................................错误!未定义书签。1.4论文构成...........................................................................................................错误!未定义书签。2方案设计......................................................................................................................错误!未定义书签。2.1总体方案设计....................................................................................................错误!未定义书签。2.1.1比赛规则介绍.........................................................................................错误!未定义书签。2.1.2比赛规则分析.........................................................................................错误!未定义书签。2.1.3总体方案设计.........................................................................................错误!未定义书签。2.2爬杆机构方案设计............................................................................................错误!未定义书签。2.2.1设计指标.................................................................................................错误!未定义书签。2.2.2设计准则.................................................................................................错误!未定义书签。2.3结构详细设计....................................................................................................错误!未定义书签。2.3.1爬杆轮材料分析与选择.........................................................................错误!未定义书签。2.3.2抱紧动力源的选择与抱紧推杆设计.....................................................错误!未定义书签。2.3.3电机选择与校核.....................................................................................错误!未定义书签。2.3.4支架设计.................................................................................................错误!未定义书签。2.3.5锁杆设计.................................................................................................错误!未定义书签。2.4控制方案简介....................................................................................................错误!未定义书签。3爬杆机器人实验及分析...............................................................................................错误!未定义书签。3.1试验方案...........................................................................................................错误!未定义书签。3.2试验测试及结果分析..........................................................................