【摘要】：機(jī)器人技術(shù)是現(xiàn)代科學(xué)技術(shù)綜合發(fā)展的一個(gè)標(biāo)志,機(jī)器人的出現(xiàn),使得人從一些重復(fù)性的工作中解脫出來,也使得生產(chǎn)效率和產(chǎn)品質(zhì)量得到很大提高,尤其是近年來發(fā)展迅速的移動(dòng)機(jī)器人能在更多樣的環(huán)境下完成各種復(fù)雜或危險(xiǎn)的任務(wù)。移動(dòng)機(jī)器人中的輪式機(jī)器人由于其運(yùn)動(dòng)靈活,控制方便的特點(diǎn)更是機(jī)器人研究的一個(gè)重點(diǎn)。作為機(jī)電產(chǎn)品的一個(gè)典型代表,機(jī)器人的結(jié)構(gòu)設(shè)計(jì)依托于現(xiàn)代計(jì)算機(jī)技術(shù),在現(xiàn)代設(shè)計(jì)思想指導(dǎo)下,需要運(yùn)用更高效、更優(yōu)化的設(shè)計(jì)手段來實(shí)現(xiàn)。本論文基于實(shí)際項(xiàng)目需求,為實(shí)現(xiàn)變電站實(shí)時(shí)電暈檢測(cè)完成了一種輪式移動(dòng)機(jī)器人的設(shè)計(jì)與相關(guān)仿真分析。輪式移動(dòng)探測(cè)機(jī)器人的結(jié)構(gòu)分為底部移動(dòng)車體和上部操作機(jī)械手兩大模塊。移動(dòng)車體采用兩個(gè)驅(qū)動(dòng)輪獨(dú)立驅(qū)動(dòng)、帶傳動(dòng)減速方式帶動(dòng)機(jī)器人整體移動(dòng);操作機(jī)械手采用蝸桿傳動(dòng)和螺旋傳動(dòng)的機(jī)構(gòu)設(shè)計(jì)實(shí)現(xiàn)了水平旋轉(zhuǎn)、直線升降和俯仰三種運(yùn)動(dòng),保證機(jī)械手端部探測(cè)儀靈活的到達(dá)各個(gè)位置。在本論文的設(shè)計(jì)與分析研究過程中,在傳統(tǒng)機(jī)械設(shè)計(jì)理論基礎(chǔ)上,深入應(yīng)用了現(xiàn)代計(jì)算機(jī)輔助設(shè)計(jì)技術(shù)(CAD)和計(jì)算機(jī)輔助分析技術(shù)(CAE),發(fā)揮了現(xiàn)代設(shè)計(jì)手段的高效性。在本文中,以現(xiàn)代設(shè)計(jì)思想為指導(dǎo),分模塊化組合設(shè)計(jì),完成了整體到局部的設(shè)計(jì)方案;在方案指導(dǎo)下,細(xì)化設(shè)計(jì),基于Pro/Engineer建立了三維模型,對(duì)關(guān)鍵零件應(yīng)用了參數(shù)化建模的手段提高了建模的效率和準(zhǔn)確性;在零件模型建立基礎(chǔ)上,基于Pro/Assembly運(yùn)用分級(jí)裝配的思想,對(duì)建立的零件進(jìn)行了高度貼合實(shí)際產(chǎn)品組裝過程的虛擬裝配;之后基于Pro/mechanism模塊,對(duì)關(guān)鍵傳動(dòng)部件和機(jī)械手的末端運(yùn)動(dòng)軌跡進(jìn)行了運(yùn)動(dòng)仿真,驗(yàn)證了設(shè)計(jì)方案的合理性和建模的準(zhǔn)確性;最后基于ANSYS,對(duì)關(guān)鍵結(jié)構(gòu)的強(qiáng)度和剛度進(jìn)行了靜力學(xué)仿真分析,利用分析結(jié)果驗(yàn)證結(jié)構(gòu)設(shè)計(jì)的合理性,并依據(jù)分析結(jié)果對(duì)結(jié)構(gòu)進(jìn)行優(yōu)化改進(jìn),確保了設(shè)計(jì)的結(jié)構(gòu)安全可靠。本論文最終得到了移動(dòng)探測(cè)機(jī)器人結(jié)構(gòu)設(shè)計(jì)的模型和具體參數(shù),實(shí)現(xiàn)了預(yù)期的設(shè)計(jì)目標(biāo)。在設(shè)計(jì)過程中對(duì)現(xiàn)代設(shè)計(jì)思想和現(xiàn)代機(jī)械設(shè)計(jì)手段的綜合應(yīng)用和提出的設(shè)計(jì)觀點(diǎn),以及本產(chǎn)品設(shè)計(jì)中的特色結(jié)構(gòu),對(duì)一般機(jī)械產(chǎn)品的設(shè)計(jì)具有一定的參考價(jià)值。
[Abstract]:Robot technology is a symbol of the comprehensive development of modern science and technology, the emergence of robots, people from some repetitive work, but also make production efficiency and product quality has been greatly improved. Especially in recent years, mobile robots with rapid development can accomplish complex or dangerous tasks in more diverse environments. The wheeled robot in mobile robot is an important part of robot research because of its flexible motion and convenient control. As a typical representative of mechanical and electrical products, the structure design of robot relies on modern computer technology. Under the guidance of modern design idea, it needs to use more efficient and optimized design methods to realize it. In this paper, a wheeled mobile robot is designed and analyzed in order to realize the real time corona detection of substation based on the actual project requirements. The structure of wheeled mobile detection robot is divided into two modules: bottom moving carbody and upper manipulator. The moving car body is driven independently by two driving wheels, and the robot moves as a whole by the way of transmission and deceleration, while the manipulator adopts the mechanism of worm drive and helical transmission to realize three kinds of motions: horizontal rotation, straight line lifting and pitching. Ensure that the manipulator end detector reaches each position flexibly. In the course of the design and analysis of this paper, based on the traditional mechanical design theory, the modern computer aided design (CAD) and the computer aided analysis (CAE) are deeply applied, which brings into play the high efficiency of the modern design method. In this paper, under the guidance of modern design idea and modular combinatorial design, the overall to local design scheme is completed, under the guidance of the scheme, the design is refined, and the three-dimensional model is established based on Pro-Engineer. Parametric modeling is applied to key parts to improve the efficiency and accuracy of modeling. The virtual assembly of the parts is highly suited to the actual product assembly process, and then based on the Pro-mechanism module, the kinematic simulation of the key transmission parts and the end motion trajectory of the manipulator is carried out. The rationality of the design scheme and the accuracy of the modeling are verified. Finally, based on ANSYS, the strength and stiffness of the key structure are analyzed by static simulation, and the rationality of the structure design is verified by the analysis results. According to the analysis results, the structure is optimized and improved to ensure the safety and reliability of the design. In this paper, the structure design model and parameters of mobile detection robot are obtained, and the expected design objectives are achieved. In the process of design, the comprehensive application of modern design thought and modern mechanical design means and the design viewpoint put forward, as well as the characteristic structure of this product design, have certain reference value to the general mechanical product design.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM63;TP242

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本文編號(hào)：2132515