多功能攀升机器人的三维设计+CAD图纸
毕业论文关键词：攀爬；机器人；齿轮齿条；气缸
3D Design of Multifunctional Climbing Robot
Abstract：The design beginning from the innovative way of climbing, and decomposes the movements and support which required by the climbing into two independent institutions. Simultaneously, reduce the high demand of the supporting surface, and avoid the requirement of smooth and neat supporting surface which adsorption climbing robot needed. The robot has two frames—main body and deputy frame. The robot is consist of two frames, eight legs and feet, drive mechanism and supporting mechanism. Then , design the structure of the bodies and other supporting mechanism which suit for this way of climbing.In the design of main parts, it concludes the design and calculation of gear and rack, the design and calculation of air cylinder, the design and calculation of shaft, the design and calculation of spring, the selection of motor, forward and backward rotation circuit diagram of motor and the control circuit of air cylinders, etc. In all these, the position relationship between the gear and rack, the two air cylinders are very important.
KEY WORDS：Climbing ;Robot; gear and rack; air cylinder
目 录
1 绪论 1
1.1 课题背景 1
1.1.1 机器人的起源 1
1.1.2 机器人的发展 1
1.1.3 服务型机器人的发展 2
1.1.4 清洁型机器人的发展及吸附方式 3
1.1.5 本设计吸附方式 5
1.2 课题目的及意义 5
1.3 主要设计内容 7
1.3.1 设计任务 7
1.3.2 原始条件及数据 7
1.4 课题调研 8
1.4.1 腿部运动实现的动力提供 8
1.4.2 腿部横向支撑及导向件的选取 10
1.4.3 齿轮齿条安装位置 13
2 设计计算 16
2.1 气压缸的设计计算及校核 16
2.2 齿轮齿条的设计计算及校核 17
2.3 轴的设计计算及校核 21
2.4 弹簧的设计计算及校核 22
2.5 电机的选取 23
2.6 电机正反转的实现 25
2.7 气动控制的实现及线路 27
2.8 腿部设计 29
3 攀爬式机器人的主要部件 31
3.1 攀爬式机器人结构概览 31
3.2 主要部件介绍 31
3.2.1 主体大框 31
3.2.2 副体小框 32
3.2.3 腿部连接件 33