毕业设计（论文）-蜣螂式机器人设计.docVIP

湖 北 汽 车 工 业 学 院 毕 业（设 计） 论 文√√摘 要针对工厂生产环境提出的要求，需要搬运具有一定质量的工件，同时对其搬运速度要求平稳，搬运工具的体积要求尽可能紧凑，并且要求机器人在搬运的过程之中，要实现一定的自动化、智能化操作，节省工人的工作量。 对于以上提出的要求，搬运一定质量的工件，同时保证机器人的结构也的紧凑性，我们选择其搬运时的推力比为1:8。对于搬运速度的平稳性要求，采用液压缸推动满足其平稳性的要求。对于其自动化和智能化的要求，我们可以选择各种传感器电控元件，对机器人的运动进行实时监控。在这里我们提出的方案是引入一种“蜣螂虫” 式机器人主要是由小车、驱动机构、液压油缸和复合制动机构组成。 其中，所述小车设置在轨道上 所述液压油缸和驱动机构设置在小车上，压油缸设置在小车的一端，并且在其伸展状态，液压油缸的活塞杆可伸出到小车外。所述驱动机构控制液压油缸的伸缩和小车的运动。所述复合制动机构固定在小车下方，并与所述液压油缸通过支点固定在小车上的杠杆相连。复合制动机构在液压油的作用下， 使小车固定在轨道上或在轨道上自由移动。[1]关键词：“蜣螂虫”；式机器人 ；虚拟设计 ；机构仿真 AbstractIn view of the requirements of the proposed factory production environment, transportation is of a certain quality of the workpiece, and the handling speed and smooth, the volume of the transport requirements as compact as possible, and the requirements of robot in the handling process, to achieve a certain degree of automation, intelligent operation, save workers workload.For the above requirements, the handling of a certain quality of the workpiece, while ensuring the structure of the robot is also compact, we choose to carry the thrust ratio of 1:8. For the handling speed of the stability requirements, the use of hydraulic cylinder to meet the requirements of its stability. For its automation and intelligent requirements, we can choose a variety of sensor control components, the robots motion for real-time monitoring.Here we propose is the introduction of a dung robot is mainly composed of a trolley, a driving mechanism, a hydraulic cylinder and composite braking mechanism; wherein, the carriage is arranged on the track of the hydraulic cylinder and the driving mechanism is arranged on the car, the pressure cylinder is arranged at one end of the carriage, and in the extended state, piston rod of the hydraulic cylinder can be extended to the car; the drive mechanism of the telescopic hydraulic cylinder and control the movement of the car; the composite brake mechanism is fixed in the car below, and connected with the hydraulic cylinder through a fulcrum le