毕业设计（论文）-喷洒机器人的设计.docx

喷洒机器人的设计 摘要 本文设计一种喷洒机器人，该机器人通过底座固定在小车架体上，其中底盘 能够实现360度旋转，旋转机构主要是通过齿轮啮合减速并旋转，通过电机抱闸 锁定旋转位置。机械臂的折叠通过拉杆实现，拉杆的强度相对较高通过铸铁加工 成本较低，经济性较好。驱动系统由车轮、支架、减速器等主要部分构成。减速 机选用蜗轮蜗杆一级减速机，蜗轮蜗杆能够实现自锁。行进到位置后停止转动， 蜗轮蜗杆减速机输出轴通过联轴器连接车轮，车轮即停止转动实现自锁。该驱动 系统采用双前驱的结构形式，前端两个轮子分别采用电机单独驱动，同时正转即 是前进、同时反转即是后退，一正一反转动可实现左右转弯。通过对各机构进行 分析计算校核，并对喷洒机器人进行SW三维建模，并输出二维CAD图纸。文中 还对控制系统各模块做了简单阐述。 关键词：喷洒机器人，行走机构，旋转，折叠 Design of spray robot ABSTRACT In this paper, a spray robot is designed. The robot is fixed on the trolley frame through the base, in which the chassis can achieve 360 degree rotation. The rotating mechanism mainly decelerates and rotates through gear mesh, and locks the rotating position through the motor brake. The folding of the mechanical arm is realized by the pull rod, the strength of the pull rod is relatively high, the processing cost of the cast iron is low, and the economy is good. The driving system consists of wheel, bracket, reducer and other main parts. The first stage reducer of worm and worm is selected for the reducer, and the worm and worm can realize self-locking. The output shaft of the worm gear reducer is connected with the wheel through the coupling, and the wheel stops rotating to realize self-locking. The driving system adopts the structure of double front drives. The front two wheels are separately driven by motors. At the same time, forward rotation means forward, while reverse rotation means backward. One forward and one reverse rotation can realize left and right turns. Through the analysis, calculation and verification of each mechanism, and the SW 3D modeling of the spray robot, and output 2D CAD drawings. In addition, the modules of the control system are briefly described. KEY WORDS: Spray robot, walking mechanism, rotation, folding TOC \o 1-5 \h \z 前言 1 \o Current Document 第1章绪论 2 \o Current Document 研究背景 2 \o Current Document 国内外研究现状 2 \o Current Document 发展前景 3 \o Current Document 第2章 喷洒机器人总体方案设计 4 \o Current Document 机器人组成结构 4 \o Current Document 机