六履带摆臂机器人说明书.docVIP

中国矿业大学徐海学院12届本科生毕业设计摘 要本文首先介绍了近年来我国煤矿生产中发生的安全事故和造成的人员伤亡情况，阐述了研发煤矿救灾机器人的重要性和紧迫性。在对多种移动机器人的结构形式进行分析的基础上，设计了一种六履带式摆臂行走方案。其次，本文研究了六履带摆臂式搜救机器人在不同环境下的机身姿态与行进步态，给出了六履带摆臂式搜救机器人的运动分析结果，探讨了几种典型的变形摆臂方式，通过对其行走机构的分析，设计计算了主驱动轴，传动锥齿轮及从动轮等，使其功能更能有效的体现。然后，根据机器人的驱动要求，设计了硬件电路，系统采用PLC控制模式，可以依据需求扩展各功能模块。最后，我们验证了本文设计的六履带摆臂式搜救机器人可以在井下复杂环境中实现爬“阶梯”，越“台阶”，翻越障碍、跨越壕沟等自适应非结构地形的能力。 关键词： 安全事故； 六履带摆臂； 搜救机器人； PLC控制ABSTRACTThis paper introduces the recent occurrence of coal mine production safety accidents and casualties, with a description of the development of coal mine rescue robot importance and urgency.In the structure of various forms of mobile robot based on the analysis, design a program of six walking arm tracked. Second, this study tracked six search and rescue robot arm type of body posture in different environments and road gait, gives the six track the movement of the robot arm-type search results, the deformation of a typical pendulumArm way through its travel agency analysis, design and calculation of the main drive shaft, the drive bevel gear and driven wheels, so that it functions more effectively reflected.Then, according to the robot-driven requirements, design the hardware circuit, the system uses PLC control mode, can be based on the function module needs expand. Finally, we verify the design of the six-track search and rescue robot arm type complex environment can be achieved in the underground climb the ladder, the more step over the barrier, across ditches and other non-structural terrain adaptive capacity.Keywords： Accident; Six Track Arm; Search and rescue robot; PLC control目 录TOC \o 1-3 \h \u HYPERLINK \l _Toc18946 1 绪论 PAGEREF _Toc18946 1 HYPERLINK \l _Toc24940 1.1引言 PAGEREF _Toc24940 1 HYPERLINK \l _Toc16442 1.2 选题的背景和意义 PAGEREF _Toc16442 2 HYPERLINK \l _Toc20386 1.3六履带摆臂式搜救机器人研究现状及发展趋势 PAGEREF _Toc20386 4 HYPERLINK \l _Toc3362 1.3.1六履带摆臂式搜救机器人的研究现状 PAGEREF _Toc3362 4 HYPERLINK \l _Toc996 1.3.2六履带摆臂式搜救机器人的发展趋势 PAGEREF _Toc996 7 HYPER