机械5

一种攀爬机器机械部分的设计 摘要 在一些工程类建筑中，一些直径比较小的直杆随处可见，对于这些直杆作业一直存在着一些问题，人为作业较为困难和危险。设计一个可攀爬直杆的机器人，通过该机器人平台搭载一些作业机器，对于解决小直杆的作业问题具有较大现实意义。 本次设计的攀爬机器人是由众多简易的机构组成，在结构上面比较简单，利用我们平时生活中随处可见的曲柄滑块机构、凸轮机构等等结合而成。利用凸轮结构的运动特性实现手爪的夹紧与松开，在驱动源方面只采用一个轻质电机，避免电机过多造成结构上的繁琐和避免重量过重。机械手的手爪采用的是弹簧夹紧的原理，弹簧提供的力足够支撑整个机器人的自重和负重。通过弹簧解决了在变直径杆上攀爬的问题。 本文对曲柄滑块的运动和受力分析证明了该机器人运动的稳定性和可靠性。还通过减速箱的设计赋予机器人一定的攀爬运动速度。还对手爪、轴、轴承等部件的受力校核证明该机器人在结构上面的稳定性。该机器人还具有一定的负重能力。可以在机器人上面搭载一些作业机器人，实现多功能作业。本次设计的机器人通过各机构联动工作，工作简单可靠。 本文还对输出轴的尺寸、配合进行了说明。对轴的加工工艺进行了工艺规程制定，分析各工序的制定方法。对于轴类零件的加工工序有一定的了解与掌握。 关键词：爬杆机器人；变直径杆；夹紧；曲柄滑块 Abstract I
n some of the e
ngi
neeri
ng buildi
ng,a
number of relativelysmall diameter straight bar everywhere,straight bar for these jobs,there has bee
n some problems,ma
n-madework more difficult a
nd da
ngerous.Desig
n a robot ca
n climb straight bar,equippedwith some of thework machi
ne bythe robot platform for solvi
ng the problems of small jobs straight bar has a larger sig
nifica
nce. The climbi
ng robot desig
ned byma
nysimple bodies,i
n the above structure is relativelysimple,we usuallyuse slider-cra
nk mecha
nism life everywhere,the cam mecha
nism,a
nd so a combi
natio
n.Usi
ng the motio
n characteristics of the cam mecha
nism to achieve clampi
ng a
nd release the gripper,i
n terms of the drivi
ng source usi
ng o
nlya lightweight dampi
ng motor to avoid the motor caused byexcessive red tape a
nd avoid excessiveweight o
n the structure.Robot gripper uses the pri
nciple of a spri
ng clamp,the spri
ng force provided e
nough to support its ow
nweight a
nd theweight of thewhole robot.Byspri
ng solves the problem ofvariable diameter pole climbi
ng. I
n this paper,the cra
nk-slider motio
n a
nd stress a
nalysis to prove the stabilitya
nd reliabilityof the robot moveme
nt.Also gives some climbi
ng robot moveme
nt speed bygearboxdesig
n.Also force the oppo
ne
nt claw,shafts,beari
ngs a
nd other parts of the check showthat the stabilityof the structure above the robot.The robot also has a certai
nweight-beari
ng capacity.Some jobs maybe mou
nted o
n top of the robot i
n robot to achieve mufti-fu
nctio
nal operatio
ns.The robot desig
nwork through the li
nkage mecha
nism,work is simple a
nd reliable. This paper also the size of the output shaft,with the described.Axis machi
ni
ng processwere to develop process pla
n
ni
ng,a
nalysis of the developme
nt method i
n each step.For shaft machi
ni
ng operatio
ns have a certai
n u
ndersta
ndi
ng a
nd grasp. Accordi
ng to the axis of the developme
nt process card.Reaso
nable a
nd feasible productio
n process pla
n
ni
ng. Keywords: pole-climbi
ng robots;variable diameter rod; clamp; cra
nk-slider 目录 1绪论1 1.1攀爬直杆机器人研究目的1 1.2研究现状1 1.3研究内容2 2爬杆机器人方案设计3 2.1方案选择3 2.2设计方法5 2.2.1仿生设计5 2.2.2夹紧装置设计6 2.2.3运动状态7 2.2.4小结7 3机械结构设计8 3.1机械手爪设计8 3.1.1机械手爪力学分析9 3.2曲柄滑块机构设计10 3.2.1曲柄滑块速度分析11 3.3连杆的受力分析11 3.3移动凸轮的设计12 3.4盘形凸轮设计13 4减速箱设计14 4.1电动机的选择14 4.2齿轮设计14 4.2.1齿轮类型、材料及强度计算15 4.3轴的设计26 4.3.1联轴器的选择26 4.3.2轴承选择27 4.3.3确定轴的结构与尺寸28 4.3.4轴的校核29 4.4轴承的校核34 4.4.1轴承的径向载荷34 4.4.2轴承的轴向力校核35 4.4.3轴承的径向当量载荷35 5弹簧的选择37 6零件的加工工艺规程39 6.1对零件进行工艺分析39 6.2确定零件的装夹39 6.3定位基准的选择原则39 6.4加工刀具的选择39 6.5机床选择39 6.5主要加工工序安排40 7结论42 致谢43 参考文献44 附录45