机械5

自动爬楼搬运小车设计 The car that climbs the stair automatically 摘要 在日常生活和生产中经常会有大量的楼梯，基本是由人力来处理传统的方法，老人爬楼梯和原来一样，现在又想搬重物，所以这个话题设计了一辆自动爬楼梯的货车。本文首先介绍了爬楼梯机器人的研究现状及目前需要解决的问题。根据研究的目的和主要内容，从两个方面对汽车进行了设计。首先，电车必须满足爬楼梯的要求。我们选择前轮为变形轮移动小车，后轮主要用于行星轮的旋转。与此同时，我们需要很大的力量来爬楼梯。我们还选择了高功率电动机通过蜗轮和蜗杆为汽车提供动力。此外，我们调整了车的篮子，以便当汽车爬上楼梯时，货物总是在水平面上。第二,我们需要做的汽车电路设计,我们使用单片机控制器,在汽车前面有四个超声波测距仪当小车的楼梯,首先控制变形轮和电机驱动轴旋转汽车上楼梯,汽车转向角,与此同时,车篮子里始终保持水平。 关键词:变形轮行星轮重心调整单片机 Abstract Ofte
n i
n daily life a
nd productio
n loads up to stairs, basic is do
ne by ma
npower ha
ndli
ng to the traditio
nal methods, the old people climb stairs have struggledwith the origi
nally,
now agai
nwa
nt to carry heavy thi
ngs, so this topic desig
n a automatic climbi
ng stairs freight car. Firstly, this paper i
ntroduces the research status of stair climbi
ng robot a
nd the problemswe
need
now. Accordi
ng to the purpose a
nd mai
n co
nte
nt of the research,we desig
ned the car from two aspects. First, the trolley must meet the requireme
nts of climbi
ng the stairs. We chose the fro
ntwheel to move the trolley for the deformatio
nwheel, a
nd the rearwheel is mai
nly for the rotatio
n of the pla
netwheel. At the same time,we
need a lot of power to climb the stairs. We also choose the high power motor to provide power to the car throughworm gear a
ndworm. I
n additio
n,we adjusted the basket of the car so thatwhe
n the car climbed the stairs, the goodswere always o
n the horizo
ntal pla
ne. Seco
nd,we
need to do to the car circuit desig
n,we use si
ngle chip co
ntroller, i
n fro
nt of the carwith four ultraso
nic ra
nge fi
nderwhe
n the small car to the stairs, first of all to co
ntrol deformatio
nwheel a
nd motor drive shaft rotates the car up the stairs, the car tur
ned to the cor
ner, i
n the mea
ntime, the i
nside of the car basket always stay level Keywords: deformatio
nwheel pla
netwheel ce
nter of gravity adjustme
nt si
ngle chip microcomputer. 目录 摘要i Abstract ii 1绪论1 1.1自动爬楼搬运小车的研究目的和意义1 1.2自动爬楼梯搬运小车国内外研究现状1 1.3课题研究的主要内容3 2自动爬楼梯搬运小车的总体方案设计4 2.1爬楼机器人的设计要求4 2.2自动爬楼梯小车方案比较4 2.2.1足式4 2.2.2履带式5 2.2.3轮组式5 3爬楼梯机器人的机械结构设计7 3.1变形轮的设计7 3.1.1变形轮的确定7 3.1.2自由度计算8 3.1.3机械原理分析8 3.1.4尺寸确定8 3.2转向机构的设计9 3.3驱动结构设计10 3.3.1蜗轮蜗杆减速系统10 3.4后轮轮组设计10 3.5重心调节机构的设计12 4爬楼梯机器人控制系统的设计14 4.1阶梯攀爬服务机器人控制原理14 4.2超声波测距电路设计14 4.3驱动电路设计15 5总结17 致谢18 参考文献19