设计简介
摘 要
煤矿灾害尤其是瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下因灾受伤人员面临极其危险的状况,需尽快地转移与救护；而救援工作异常困难和危险,往往在救援工作中造成救护人员的伤亡。研发代替或部分代替救护人员及时、快速深入矿井灾区进行环境探测和搜救工作的救灾机器人具有极其重要的意义。
本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作。通过在移动系统上加载不同的模块，能够实现搜救机器人不同的使用功能，本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。
本研究所设计的搜救机器人移动方案是履带式驱动结构。该方案采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力并能抵抗一定高度的掉落冲击。所设计的机器人移动机构主要由四部分组成：主动轮减速驱动机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构，本论文对上述各部分方案分别进行论证、结构设计计算、3D建模，并设计了搜救机器人虚拟样机。
关键字：搜救机器人；复合移动机构；模块化设计；
Abstract
Coal mine disasters,especially gas and coal dust explosion, mine environment is very complex and wounded tolls mine face extremely dangerous conditions,be transferred as soon as possible and rescue.and rescue work extremely difficult and dangerous, often resulting in the rescue work in the ambulance casualties.R & D to replace or partially replace the ambulance personnel in a timely manner, quick in-depth environmental exploration and mine disaster relief robot search and rescue work is extremely important
The purpose of this thesis is to design novel structure, its unique portable,shock intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different modules, search and rescue robots can be achieved using different functions, this study is important because other people's search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsearch and rescue robots.
This resoarch is moving search and rescue robot crawler.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel.The design of the robot moving mechanism mainly consists of four components. Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, sports organizations track and track wheels, part of the paper on the above programs were carried out feasibility studies, structural designcalculation, 3D modeling , and design a rescue robot prototype.
Key words: search and rescue robots; composite mobile body; modular design
煤矿灾害尤其是瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下因灾受伤人员面临极其危险的状况,需尽快地转移与救护；而救援工作异常困难和危险,往往在救援工作中造成救护人员的伤亡。研发代替或部分代替救护人员及时、快速深入矿井灾区进行环境探测和搜救工作的救灾机器人具有极其重要的意义。
本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作。通过在移动系统上加载不同的模块，能够实现搜救机器人不同的使用功能，本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。
本研究所设计的搜救机器人移动方案是履带式驱动结构。该方案采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力并能抵抗一定高度的掉落冲击。所设计的机器人移动机构主要由四部分组成：主动轮减速驱动机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构，本论文对上述各部分方案分别进行论证、结构设计计算、3D建模，并设计了搜救机器人虚拟样机。
关键字：搜救机器人；复合移动机构；模块化设计；
Abstract
Coal mine disasters,especially gas and coal dust explosion, mine environment is very complex and wounded tolls mine face extremely dangerous conditions,be transferred as soon as possible and rescue.and rescue work extremely difficult and dangerous, often resulting in the rescue work in the ambulance casualties.R & D to replace or partially replace the ambulance personnel in a timely manner, quick in-depth environmental exploration and mine disaster relief robot search and rescue work is extremely important
The purpose of this thesis is to design novel structure, its unique portable,shock intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different modules, search and rescue robots can be achieved using different functions, this study is important because other people's search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsearch and rescue robots.
This resoarch is moving search and rescue robot crawler.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel.The design of the robot moving mechanism mainly consists of four components. Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, sports organizations track and track wheels, part of the paper on the above programs were carried out feasibility studies, structural designcalculation, 3D modeling , and design a rescue robot prototype.
Key words: search and rescue robots; composite mobile body; modular design
目 录
前 言 1
1 绪 论 3
1.1 课题研究背景及意义 3
1.1.1 课题研究背景 3
1.1.2 课题研究意义 3
1.2 国内外的研究概况 5
1.2.1 国外研究现状 5
2.2国内研究现状 10
1.2.3 发展趋势 11
2 搜救机器人的总体结构方案设计 12
2.1 井下复杂环境对救灾机器人的要求 12
2.2 典型移动机构方案论证分析 13
2.2.1 轮式移动机构特点 13
2.2.2 腿式移动机构特点 14
2.2.3 履带式移动机构特点 15
2.2.4 履、腿式移动机构特点 16
2.2.5 轮、履、腿式移动机构性能比较 17
2.3 本研究采用的行走机构 17
2.4 救灾机器人性能指标与设计 18
2.5 本章小结 19
3矿用搜救机器人运动参数设计计算 20
3.1机器人越障分析 20
3.1.1机器人跨越台阶 20
3.1.2跨越沟槽 21
3.2斜坡运动分析 22
3.3 本章小结 23
4机器人移动平台机械设计 24
4.1驱动电机的选则 24
4.1.1基于平地的最大速度的电机功率计算 24
4.1.2爬坡最大坡度的驱动电机功率计算 25
4.2 本章小结 26
5 驱动轮减速器设计 27
5.1减速器方案分析 27
5.1.1减速器应满足的要求 27
5.1.2 减速器方案分析 27
5.2 减速器的设计计算 29
5.2.1减速器的传动方案分析 29
5.2.2配齿计算 29
5.2.3初步计算齿轮的主要参数 30
5.2.4装配条件的计算 34
5.2.5高速级齿轮强度的验算 35
5.2.6 轴的设计及校核 44
5.3 本章小结 46
6移动机构履带及翼板部分设计 47
6.1履带的选择 47
6.1.1 确定带的型号和节距 48
6.1.2确定主从动轮直径 48
6.1.3确定节线长度和带宽 49
6.2 翼板部分设计 51
6.3 本章小结 51
7机器人摇臂的设计 52
7.1 摇臂作用概述 52
7.2摇臂传动减速器设计 53
7.3本章小结 55
8 总结与展望 56
致 谢 58
参考文献 59
