机器人移动平台设计

河南理工大学万方科技学院本科毕业论文摘要煤矿灾害尤其是瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下因灾受伤人员面临极其危险的状况,需尽快地转移与救护；而救援工作异常困难和危险,往往在救援工作中造成救护人员的伤亡。研发代替或部分代替救护人员及时、快速深入矿井灾区进行环境探测和搜救工作的救灾机器人具有极其重要的意义。本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作。通过在移动系统上加载不同的模块，能够实现搜救机器人不同的使用功能，本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。本研究所设计的搜救机器人移动方案是便携式履带式驱动结构。该方案采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力并能抵抗一定高度的掉落冲击。所设计的机器人移动机构主要由四部分组成：主动轮减速驱动机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构，本论文对上述各部分方案分别进行论证、结构设计计算、3D建模，并设计了搜救机器人虚拟样机。关键字：搜救机器人；复合移动机构；模块化设计河南理工大学万方科技学院本科毕业论文AbstractCoalminedisasters,especiallygasandcoaldustexplosion,mineenvironmentisverycomplexandwoundedtollsminefaceextremelydangerousconditions,betransferredassoonaspossibleandrescue;andrescueworkextremelydifficultanddangerous,oftenresultingintherescueworkintheambulancecasualties.R&Dtoreplaceorpartiallyreplacetheambulancepersonnelinatimelymanner,quickin-depthenvironmentalexplorationandminedisasterreliefrobotsearchandrescueworkisextremelyimportant.Thepurposeofthisthesisistodesignnovelstructure,itsuniqueportable,shockintelligentlytrackedmobilerobot,inordertobeabletoadapttotheharshenvironmentandthecomplicatedroadtowork.Mobilesystemsloadedbydifferentmodules,searchandrescuerobotscanbeachievedusingdifferentfunctions,thisstudyisimportantbecauseotherpeople'ssearchandrescuerobotdesignedtoprovideabasisforthedynamicplatformtofacilitategreateruseoffeaturescandevelopsearchandrescuerobots.Thisresetarchprogramismovingsearchandrescuerobotcrawlerreconfigurablearchiecture.Theprogramismodularindesign,easydisassemblymaintenance,canbecomplexadaptivesub-surface,activecontrolcanturnonbothsidesofflangemoduletoadjusttherobotposechanges,supportingclimbing,obstacleandcross-channel;Thedesignoftherobotmovingmechanismmainlyconsistsoffourcomponents:Activewheelreducerdrivemechanism,flangerotationinstitutions,adaptiveroadimplementingagencies,sportsorganizationstrackandtrackwheels,part河南理工大学万方科技学院本科毕业论文ofthepaperontheaboveprogramswerecarriedoutfeasibilitystudies,structuraldesigncalculation,3Dmodeling,anddesignarescuerobotprototype.Keywords:searchandrescuerobots;compositemobilebody;modulardesign河南理工大学万方科技学院本科毕业论文１前言....................................................................................................................１1绪论................................................................................................................３1.1课题研究背景及意义......................................................................３1.1.1研究意义.................................................................................３1.1.2研究现状.................................................................................４1.1.3研究思路和需要重点解决的技术问题.............................６1.1.4发展趋势.................................................................................８1.2课题内容及其参数要求..................................................................９1.2.1课题主要解决的问题...........................................................９1.2.2遇到的主要问题................................................................１０1.2.3.解决问题的方法................................................................１０1.2.4参数要求.............................................................................１０2移动平台设计方案..................................................................................１２2.1底盘设计........................................................................................１２2.1.1移动方式设计....................................................................１２2.1.2驱动系统设计....................................................................１３2.1.3驱动方式设计....................................................................１４2.2传动系统设计..................................................................................１５2.3小结.................................................................................................１６3搜救机器人动力系统设计........................................................................１７3.1基于平地的最大速度的电机功率计算..........................................１７3.1.2基于爬坡最大坡度的驱动电机功率计算...........................１８3.3电机的选型......................................................................................２０3.4小结.................................................................................................２１4机器人驱动轮减速器设计.........................................................................２２4.1减速器方案分析...........................................................................２２河南理工大学万方科技学院本科毕业论文２4.1.1减速器应满足的要求.......................................................２２4.1.2减速器方案分析................................................................２２4.2减速器的设计计算.......................................................................２４4.2.1减速器的传动方案类型和传动简图.............................２４4.2.2配齿计算.............................................................................２４4.3.3初步计算齿轮的主要参数..............................................２５4.3.4减速器输入轴的设计.......................................................４０5传动系统设计..................................