机器人链式越障轮组机构机械CAD图纸设计.doc

机器人链式(行星)越障轮组机构设计 摘 要 本次设计的项目根据实际设计工作的需要，对机器人链式(行星)越障轮组机构主要的零部件进行设计。对机构各部分的零件进行设计布局,算出齿轮的齿数、模数、齿宽、变位系数和中心距等关键参数，设计轴的结构及尺寸,链轮等.并进行几何尺寸计算、强度计算和安全系数计算。 全方位越障车轮组由动力装置、转向装置和驱动轮系组成。框架上安装了中心轴，中心轴上设有驱动离合器、转向离合器、转臂和中心链轮。每组车轮组的３个车轮轴线呈等角分布。当驱动离合器闭合、制动器制动，转向离合器脱开时，且路面对车轮作用力变化的情况下，驱动轮系亦相应转化构成定轴轮系或行星轮系，实现车轮的驱动或越障。而当制动器脱开，转向离合器闭合时，动力通过啮合齿轮副、转向链轮副和锥齿轮副，使框架相对于车体转动。关键词： Robot Chain Structure Design Of Climbing Obatacle With Planetary Wheel ABSTRACT The design is made on the basis of the demand of the progect .Our task is the designing of crucial part of the planetary reducer ,calculating the value of special parameters .Especially , the parameters of sun gear,planetary gear and ring gear,such as gear ratio, module, facewidth, modification coefficient,center distance,and physical dimension, strength and safety factor.are designed. For determination of perpendicular climbing obstacle capability of lunar rover with planetary wheel , based on simplified mechanics mobel of rover the paper gives the relations between rover parameters and perpendicular climbing obstacleheight under three conditions: simultaneously climbing obstacle by two front wheels, simultaneously climbing obstacle by two rear wheels and climbing obstacle by single wheel. Then maximum perpendicular climbing obstacle height of this rover is calculated. Simulation analysis to above three conditions is done. The simulation analysis gives conclusion that theoy inference result is reliable. The organization structure is simple and effective, and can be widely used in such industries, rescue explosive-handling danger, also can used for the high-rise building exteriors cleaning and pipeline etc of narrow space, etc. And its future development direction are mechanical and automatic control, sensing technology, microcomputer technology, combined with the PC has gradually to the information collected, analysis, and judgment, true independence. KEY WORDS: planetary wheel , climbing obstacle, structure design