灵巧轻量化轮式爬杆机器人机构设计-应用文.doc

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2016 Robocon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 Design of a flexible lightweight wheel type climbing rod mechanism Author: Zijian Zhang Tutor: Tianmiao Wang Abstract In this paper, the principle of wheel type climbing mechanism is studied., Design and make a lightweight wheel type climbing mechanism as the climbing mechanism in the robot of BUAA in the 2016 Robocon robot competition. And to achieve the above 15kg weight bearing pole climbing, climbing from the technical index of 1.5m with less than 3 degrees angle. According to the design requirements and the current available resources, this project adopts the wheel climbing pole, which consists of three pairs of two rows of six friction wheels, connecting rods and cylinders. Holding pole stage, the motion of the cylinder, the push rod push two frame away from the cylinder, reduce the distance between the two pairs of friction wheel, lock rod device for overall development, friction wheel gradually close to the column until hold column. In the column is hold and began to climb to the top of the stage, six electric motors work simultaneously, six wheel friction roll along the rod, toward the top of the pole movement to climbing rod. Each wheel has a separate motor drive, the six friction wheels at the same speed of motion, to drive the robot to climb to the specified height. The design and production of the climbing rod mechanism ultimately bearing 28KG weight and the velocity of 0.3m/s pole climbing has reached the has reached the expected target, at the same time to meet the requirements of the tournament. Key words: Climbing robot, Climbing agencies，