四履带搜救机器人机械结构设计行星减速器设计【毕业论文+CAD图纸全套】.doc

摘 要 自然灾害，尤其是煤矿瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下人员面临极其危险的状况,需尽快地转移与救护；而搜救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、具有独立可操作性的、抗击一定冲击和越障能力的履带式移动机器人，以适应在环境和路况下工作本研究意义在于为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。 设计的搜救机器人该所设计的机器人机构主要由四部分组成：。 关键字： Abstract Natural disasters, particularly coal gas coal-dust explosion accident happens, the mine environment is very complex, miners face extremely dangerous situation, it is necessary to transfer and ambulance as soon as possible; And search and rescue work more difficult and dangerous, often in the relief work by ambulance staff casualties. Research and development instead of or part of the rescue personnel to replace mine disaster area, rapidly environmental detection and search and rescue work of the rescue robot has very important significance. This paper studies the purpose of the work is the design of novel structure, has an independent class of operation, resistance to certain impact and the obstacles of the ability to track mobile robot, and to adapt to the complex environment and rugged work conditions. This research significance lies in the design for the follow-up of the search and rescue robot provide a fundamental dynamic platform, in order to be able to develop more function of search and rescue robot, especially to provide a solid mobile platform, playing in some search and rescue equipment, to provide relief information inoue, reasonable design rescue plan, shorten the rescue time, reduce casualties. We design the mobile search and rescue robot scheme is crawler drive structure. The scheme adopts the modular design, easy to remove the maintenance, can block the adaptive complex pavement, and to control the rotation of the two flanks board module to adjust the robot attitude change, auxiliary climbing, the disabled and across the channel; Robot after reasonable structure layout and design with good ability to adapt to the envir