机械5

小型搬运机器人的行走机构设计 摘要 随着经济和科技的发展，自动机器人的研究有了迅猛飞速的进步，很多之前只能服务国家主要领域的成功技术已经使用于服务普通民众的机器人中。小型搬运机器人属于服务机器人，世界各国尤其是发达国家正努力于钻研开发和广泛应用服务机器人，中国许多高等学府在这方面的研究也取得了不错的结果。 本文在对比了国内外很多种搬运机器人产品的基础上，得出了小型搬运机器人行走机构的设计方案。介绍了小型搬运机器人行走机构的各个组成部分，侧重介绍了小型搬运机器人的蜗轮蜗杆设计等。并用CAD画出了行走机构的整体构造，包括蜗轮蜗杆和驱动轮万向轮的装配图及零件图。完成行走机构的所有设计，成本比较低但尺寸比较大。 因而可知，想要小型搬运机器人未来具备广阔的市场前景，那设计出来的产品必需要有很高的性价比。本设计最终完成了所有的设计任务，综合运用了大学所学的专业知识，很大程度的提高了综合理解能力。 关键字：小型搬运机器人；行走机构；蜗轮蜗杆 Abstract With the developme
nt of eco
nomy a
nd scie
nce a
nd tech
nology, household automatic robot research progress by leaps a
nd bou
nds, ma
ny previously o
nly service i
n the field of
natio
nal importa
nt tech
nology has bee
n used successfully i
n service robots i
n the ge
neral populatio
n. Small ha
ndli
ng robot belo
ngs to the service robot, the cou
ntries of theworld, especially developed cou
ntries are committed to research, developme
nt a
ndwidely use of service robots, ma
ny of Chi
na's higher lear
ni
ng i
n this research also achieved good results. Based o
n the compariso
n of ma
ny ki
nds of tra
nsporti
ng robot products at home a
nd abroad, this paper proposes the desig
n scheme of small movi
ng robotwalki
ng mecha
nism. This paper i
ntroduces the compo
ne
nts of thewalki
ng mecha
nism of small movi
ng robot, a
nd i
ntroduces the desig
n ofworm gearworm gear for automatic small movi
ng robot. The ge
neral structure of thewalki
ng mecha
nism is draw
nwith CAD, a
nd the assembly drawi
ng a
nd part drawi
ng ofwormwheel a
ndwormwheel are draw
n. Complete the desig
n ofwalki
ng mecha
nism, the cost is lower but bigger. Therefore, it is clear that the desig
n of the products must be cost-effective i
n order to have a broad market prospect i
n the future. The desig
n has completed all the desig
n tasks, a
nd comprehe
nsively applied the specialized k
nowledge acquired by the u
niversity,which greatly improved the comprehe
nsive u
ndersta
ndi
ng ability. Keywords: Small movi
ng robot; Walki
ng age
ncies; Worm gear a
ndworm 目录 第一章绪论1 1.1研究的背景1 1.2小型搬运机器人的国内外研究现状5 1.3研究的背景与意义8 1.4当前小型搬运机器人存在的问题与分析11 第二章小型搬运机器人总体结构的介绍13 2.1小型搬运机器人控制部分介绍13 2.2小型搬运机器人电源部分介绍13 2.3小型搬运机器人行走机构介绍13 2.4轮式行走机构的总体结构14 2.5行走机构的运动分析及总体结构15 第三章确定各部件及零件的结构17 3.1电机的选用17 3.2底座21 3.3驱动轮22 3.4蜗轮蜗杆22 3.5蜗轮蜗杆的强度校核24 3.6从动轮26 3.7轴承26 3.8轴承座的设计27 小结29 参考文献31