机器人链式越障轮组机构设计.docVIP

摘要 PAGE IV 机器人链式越障轮组机构设计 摘 要 针对清洗壁面作业对机器人提出的特殊要求，研制了一种可越障轮式全方位移动机构——车轮组机构，由于全方位移动机构快速、灵活、可控制而且能够在保证机器人在姿态不变的前提下，沿壁面任意方向直线移动或在原地旋转任意角度，同时能跨越存在于机器人运行路径中的障碍，该机构不需要传感器来检测障碍，不需要复杂的辅助机构来实现平面上运动和越障运动的转换，实现机构简单。 关键词：全方位越障车轮组,驱动轮系,驱动离合器,越障机构,制动器 Robot chain type more the Zhang round set organization design ABSTRACT Aiming at to clean wall noodles homework to the special request that the robot put forward, developping 1 kind can more Zhang round the type be all-directions to move organization-car wheel a set organization, because of all-directions move organization fast, vivid, can control and can be promise the robot is under the carriage constant premise and follow wall noodles arbitrarily a direction straight line ambulation or is at first revolving arbitrarily angle, can cross over to exist to circulate obstacle within path at the robot in the meantime, that organization doesnt need to spread a feeling machine to examine obstacle, dont need complicated assistance organization to carry out flat surface a top sport and more Zhang sport of conversion, carry out organization in brief. KEY WORDS: All-directions more Zhang car wheel set, drive a round to fasten, drive a clutch, cross obstacle mechanism and make to move a machine 前言 目　录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc214959278 前　言 PAGEREF _Toc214959278 \h 1 HYPERLINK \l _Toc214959279 第1章链式机器人越障车轮组功能分析 PAGEREF _Toc214959279 \h 2 HYPERLINK \l _Toc214959280 1.1车轮组运动分析 2 HYPERLINK \l _Toc214959281 1.2越障高度的分析 3 HYPERLINK \l _Toc214959282 1.3选用电动机型号 4 HYPERLINK \l _Toc214959284 第2章越障车轮组结构的设计 5 HYPERLINK \l _Toc214959285 2.1圆柱齿轮传动设计 5 HYPERLINK \l _Toc214959286 2.2中心链轮传动设计 9 HYPERLINK \l _Toc214959287 2.3转向链轮传动的设计 13 HYPERLINK \l _Toc214959288 2.4圆锥齿轮传动的设计 15 HYPERLINK \l _Toc214959289 2.5中心轴的设计 19 HYPERLINK \l _Toc214959291 2.6轴承的选用与校 28 HYPERLINK \l _Toc214959292 2.7轴上键的选用和强度校核 25 HYPERLINK \l _Toc214959293 2.8离合器的选用 25 HYPERLINK \l _Toc214959307 结　论 27 HYPERLINK \l _Toc214959308 谢 辞 28 HYPERLINK \l _Toc21