礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計含4張CAD圖
礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計含4張CAD圖,礦井,救援,救濟(jì),營救,機(jī)器人,行走,機(jī)構(gòu),設(shè)計,cad
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XXX設(shè)計（XX）中期檢查表
指導(dǎo)教師： 職稱：
所在院（系）： 教研室（研究室）：
題 目
礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計
學(xué)生姓名
專業(yè)班級
學(xué)號
一、選題質(zhì)量：（主要從以下四個方面填寫：1、選題是否符合專業(yè)培養(yǎng)目標(biāo)，能否體現(xiàn)綜合訓(xùn)練要求；2、題目難易程度；3、題目工作量；4、題目與生產(chǎn)、科研、經(jīng)濟(jì)、社會、文化及實(shí)驗(yàn)室建設(shè)等實(shí)際的結(jié)合程度）
本題目主要研究的內(nèi)容是設(shè)計行走底盤和四自由度手臂，本題目研制開發(fā)一種機(jī)器人基礎(chǔ)級載體。對機(jī)器人的局部受力情況作了具體的分析。履帶式行走機(jī)構(gòu), 使機(jī)器人具有更出色的越障能力。兩條履帶均設(shè)置有正反轉(zhuǎn)，且可無級調(diào)速，使機(jī)器人行走、轉(zhuǎn)彎更加靈活。整機(jī)共七個自由度，可實(shí)現(xiàn)物體的夾持、搬運(yùn)、碼放。
這個題目很符合專業(yè)的培養(yǎng)目標(biāo)，能把書本上學(xué)到的理論知識確切運(yùn)用到實(shí)際生中去，同時也對我自身以后的工作有很大幫助，體現(xiàn)了綜合訓(xùn)練的要求，題目難易程度中等，題目工作量一般，能在規(guī)定的時間內(nèi)完成本次的畢業(yè)設(shè)計。
二、開題報告完成情況：
開題報告工作已經(jīng)完成，所需文獻(xiàn)資料已經(jīng)準(zhǔn)備齊全。
三、階段性成果：
1、進(jìn)行了資料的收集等前期準(zhǔn)備工作并完成了開題報告。
2、圖紙繪制工作一開始。
3、外國文獻(xiàn)的翻譯工作已完成。
四、存在主要問題：
1、無設(shè)計這方面結(jié)構(gòu)的經(jīng)驗(yàn)，使得彎路多多，進(jìn)展緩慢。
2、國內(nèi)對于該項(xiàng)研究不是太領(lǐng)先，使得獲取實(shí)際數(shù)據(jù)困難。
3、由于對機(jī)器人的專業(yè)性知識缺乏了解，在實(shí)際設(shè)計工作中有諸多不便。
4、制圖軟件應(yīng)用生疏，制圖質(zhì)量可能會差點(diǎn)。
五、指導(dǎo)教師對學(xué)生在畢業(yè)實(shí)習(xí)中，勞動、學(xué)習(xí)紀(jì)律及畢業(yè)設(shè)計（論文）進(jìn)展等方面的評語
指導(dǎo)教師： （簽名）
年 月 日
XXXXX
設(shè)計（XX）開題報告
題目名稱
礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計
學(xué)生姓名
班級
學(xué)號
一、 選題的目的和意義：
中國是一個自然災(zāi)害和社會事故多發(fā)的國家,煤礦事故、泥石流、臺風(fēng)等時有發(fā)生。這些災(zāi)難發(fā)生后現(xiàn)場環(huán)境具有復(fù)雜性、未知性及潛在的二次傷害(比如煤礦的二次爆炸、建筑物的二次坍塌等)等特點(diǎn),給救援隊員的生命安全帶來了很大隱患。因此有必要研制一種能在第一時間代替搜救隊員深入到這種危險災(zāi)難環(huán)境并探測現(xiàn)場有用信息的移動機(jī)器人,為下一步營救行動的計劃、決策提供可靠依據(jù)。通過研制一種新型機(jī)器，掌握研制新設(shè)備基本方法，鍛煉科研能力，提高創(chuàng)新思維能力。
二、 國內(nèi)外研究綜述：
我國已在“七五”計劃中把機(jī)器人列人國家重點(diǎn)科研規(guī)劃內(nèi)容，撥巨款在沈陽建立了全國第一個機(jī)器人研究示范工程，全面展開了機(jī)器人基礎(chǔ)理論與基礎(chǔ)元器件研究。1986年3月開始的國家863高科技發(fā)展規(guī)劃已列入研究、開發(fā)智能機(jī)器人的內(nèi)容。就目前來看，我們應(yīng)從生產(chǎn)和應(yīng)用的角度出發(fā)，結(jié)合我國國情，加快生產(chǎn)結(jié)構(gòu)簡單、成本低廉的實(shí)用型機(jī)器人和某些特種機(jī)器人。
救護(hù)機(jī)器人于1994年第一次投入使用。這種機(jī)器人能夠?qū)⑹軅藛T轉(zhuǎn)移到安全地帶。機(jī)器人長4米，寬1.74米,高1.89米，重3860公斤。它裝有橡膠履帶，最高速度為4公里/小時。它不僅有信息收集裝置，如電視攝像機(jī)、易燃?xì)怏w檢測儀、超聲波探測器等；還有2只機(jī)械手，最大抓力為90公斤。機(jī)械手可將受傷人員舉起送到救護(hù)平臺上，在那里可以為他們提供新鮮空氣。
三、 畢業(yè)設(shè)計（論文）所用的主要技術(shù)與方法：
履帶式實(shí)際是一種自己為自己鋪路的輪式車輛。它是將環(huán)狀循環(huán)軌道履帶卷繞在若干滾輪外，使車輪不直接與地面接觸。履帶式的的優(yōu)點(diǎn)是著地面積比車輪式大，所以著地壓強(qiáng)?。涣硗馀c路面黏著力強(qiáng)，能吸收較小的凸凹不平，適于松軟不平的地面。因此，履帶式廣泛用在各類建筑機(jī)械及軍用車輛上。并且履帶式結(jié)構(gòu)是通過兩條履帶差速實(shí)現(xiàn)轉(zhuǎn)彎。不但可以實(shí)現(xiàn)超小半徑轉(zhuǎn)彎，還可以實(shí)現(xiàn)原地轉(zhuǎn)彎。靈活性極佳。驅(qū)動輪設(shè)計減速電機(jī)輸出軸直接安裝鏈輪。鏈輪上加掛自制履帶。
四、 主要參考文獻(xiàn)與資料獲得情況：
1、成大先 主編 機(jī)械設(shè)計手冊 化學(xué)工業(yè)出版社，2003.
2、黃靖遠(yuǎn) 主編《機(jī)械設(shè)計學(xué)》機(jī)械工業(yè)出版社，2006.
3、陳伯時主編.電力拖動自動控制系統(tǒng)（第二版）.機(jī)械工業(yè)出版社.1991
4、張建中主編.機(jī)械設(shè)計基礎(chǔ).中國礦業(yè)大學(xué)出版社.1999
5、范文雄 主編《機(jī)械制造基礎(chǔ)》機(jī)械工業(yè)出版社，2005
五、 畢業(yè)設(shè)計（論文）進(jìn)度安排（按周說明）
第1-4周（2月20——3月20）畢業(yè)實(shí)習(xí)，定畢業(yè)設(shè)計題目。
第5-9周（3月21——4月28日）撰寫開題報告，實(shí)習(xí)報告。
第10周（3月29日——4月3日）撰寫中級檢查表。
第11周（4月7日——4月13日）撰寫論文提綱，確定文章框架結(jié)構(gòu)。
第12周（4月14日——4月23日）英文原版翻譯
第13周（4月24日——4月27日）設(shè)計計算
第14周（4月27日——5月1日）完成正文部分，形成初稿。
第15周（5月2日——5月5日）根據(jù)指導(dǎo)教師意見，對初稿進(jìn)行修改。
第16周（5月6日——5月13日）根據(jù)指導(dǎo)教師意見，對論文進(jìn)行再次完善
第17—18周（5月14日——6月1日）論文定稿，裝訂成冊。
六、 指導(dǎo)教師審批意見：
指導(dǎo)教師： （簽名）
年 月 日
5
附錄一：英文原文
Robot
G. Gary Wang
AssistantProfessorDept.ofMechanicalandIndustrialEngineering,UniversityofManitoba,Winnipeg,MB, R3T 5V6 Canadae
Robot's classification
Several thousand years ago the humanity longed for that makes one kind of elephant person's same machine, in order to extricates the humanity from the arduous work. If the ancient Greece poet Homeros lengthy narrative poem "Yiliyate" god of lame sea time of Si Tesi smelting, uses the gold casting to have a beautiful intelligent maidservant; Greek mythology "Lu Elder brother Discovery ship" bronze giant Tailuosi (Taloas); Judea in fable's soil giant and so on, these beautiful myth times were driving the people must certainly become the beautiful myth the reality, as early as started before two millenniums to present the automatic wooden figurine and some simple mechanical figurines. to the modern times, in after a robot word's appearance and the world the first industry robot comes out, the different function's robot also one after another appears, and enlivened in the different domain, from the space to the underground, developed from the industry broadly to the agriculture, the forest, the herd, the fishing, even entered the common family. Robot's many type, broad application, affects the depth, is we are unexpected. Divides from robot's use, may divide into two broad headings:
Military robot:
?◆ ground military robot
The ground robot is mainly refers to the intelligence or the remote control wheeled and the track-laying vehicle. The ground military robot may divide into the independent vehicles and half independent vehicles. The independent vehicles depend upon the own intelligent autonomous navigation, the avoidance obstacle, the independence complete each kind of combat mission; Half independent vehicles may exercise independently under person's surveillance, when encounters the difficulty the operators may carry on the remote control intervention.
◆ unmanned aerial vehicle
Is called the airborne robot's unmanned aerial vehicle is in the military robot develops the quickest family, the first autopilot has been published since 1913, unmanned aerial vehicle's fundamental type has achieved 300 many kinds, at present the unmanned aerial vehicle which sells in the world market has 40 many kinds. The US participated in nearly the world all important wars. Is advanced as a result of its science and technology, the national strength is strong, thus 80 for many years, the world unmanned aerial vehicle's development basically has been prompts forward by the line. The US studies one of unmanned aerial vehicle earliest countries, regardless of today looking from technical level or unmanned aerial vehicle's type and quantity, the US occupies the world leader. the comprehensive survey unmanned aerial vehicle develops the history, may say that the modern warfare is the power which the unmanned aerial vehicle develops, the high technology and new technology development is the foundation which it progresses unceasingly.?
◆ underwater robot
The underwater robot divides into some person of robots and nobody robot two broad headings:
Some person of submersibles mobile nimble, is advantageous for the processing complex question, holds the post the life will possibly have the danger, moreover the price will be expensive. The unmanned submersible is the underwater robot which the people said that “Shinao” is one kind. It is suitable for the long time, the wide range inspection duty, in the recent 20 years, the underwater robot had the very big development, they both may military and be possible civil. Further develops along with the human to the sea, in the 21st century they will certainly to have a more widespread application. According to the unmanned submersible and the water surface support equipment (depot ship or platform) contact method's difference, the underwater robot may divide into two broad headings: One kind has the cable underwater robot, in the custom is called as it controls remotely the submersibles, is called ROV; Another kind does not have the cable underwater robot, in the submersibles custom is called as it the autonomous submersibles, is called AUV. Has the cable robot is the remote control type, divides into towed, (seabed) according to its mode of motion the mobile and the float (from navigation) the formula three kinds. Does not have the cable underwater robot only to be able to be autonomous -like, at present also only then the observation float type one mode of motion, but its prospect is bright.
◆ spatial robot
The spatial robot is one kind of low end light teleoperator, may in the planet atmospheric environment the guidance and the flight. Therefore, it must overcome many difficulties, for example it must be able, in changes unceasingly in three dimensional environment movement and autonomous navigation; Cannot pause nearly; Must be able real-time to determine it in the spatial position and the condition; Must be able to carry on the control primarily to the American its vertical movement; Must forecast and plan the way for its star border flight.?
Civil robot:
?◆ industry robot
The industry robot is refers to the industry the application one kind can carry on the automatic control, to be possible to duplicate programs, multi-purpose, the multi-degrees-of-freedom, the multipurpose operation machine, can transport the material, the work piece or manages the tool, with completes each kind of work. And this kind of operation machine may fix in a place, may also on the reciprocal motion car.
◆ service robot
The service robot is in a robot family's young member, so far still did not have a strict definition, the different country to serves robot's understanding also to have certain difference. Serves robot's application scope to be very broad, is mainly engaged in work and so on maintenance, maintenance, repair, transportation, clean, security, rescue, guardianship. The German production technology and Institute of Automation manager executed Dr. Lafute for to serve the robot to give this kind of definition: Serves the robot is the shifter which one kind may program freely, it should have three motive axles at least, may partially or the completely automatic completes the services. Here services refer to are not the servicing activities which is engaged in for the industrial production goods, but refers to the services which the manner and the unit complete.
◆ entertainment robot
The entertainment robot take watches, the entertainment for the human as a goal, has robot's exterior characteristic, may look like the human, some kind of animal, looks like in the fairy tale or the science fiction character likely and so on. Simultaneously has robot's function, may walk or complete the movement, may have the verbal skill, will sing, has certain sensation ability.
◆ kind of person robot
May see from other category's robot, the majority robots do not look like the human, some do not even have a person's appearance, this point to cause many robot amateurs to be greatly disappointed. Perhaps you will ask, for system class person robot? Such robot will be easier to let the human accept. Actually, develops the outward appearance and the function and person's same robot is the desire which the scientists long for even in dreams, is also the goal which they pursue unremittingly. However, develops the performance outstanding kind of person robot, its biggest difficulty is both feet erectness walks. Because the robot and person's study way is dissimilar. A baby wants to study first walks, then studies runs; But the robot must study first runs, then studies walks. That is the robot study runs easier.
◆ agricultural robot
Because the mechanization, the automaticity are quite backward, “the surface faces upwards toward the loess back, did not have time throughout the year” has become our country farmer's symbol. But recent years agricultural robot's being published, hopefully changed traditional the work way. In the agricultural robot's aspect, Japan resides in head at present the various countries.
Robot history
US
The US is robot's birthplace, as early as developed in the world in 1962 the first industry robot, compares was known as " the robot kingdom " Japan to start must at least early 56 years. After more than 30 years development, the US already became one in world robot powerful nations, the foundation is abundant, technological advance. The comprehensive survey its history, the path is winding, is not smooth.
Because The US government from the 60s to the 70s's in ten several years period, has not included the industry robot the prioritize project, was only has done some research work in several universities and the minority company. Regarding the enterprise, in only saw the momentary interests of the day, the government does not have the financial support in the situation, rather misses the good opportunity, defends stubbornly in the use rigidity automation installment, is also not willing to run risks, applies or makes the robot. In addition, at that time the American unemployment rate reached as high as 6.65%, the government worried that the development robot can cause more people to be unemployed, therefore does not give the investment, also does not organize to develop the robot, this has no alternative but saying that is The US government's strategic decision is wrong. In the late 70s, although The US government and the business community had take seriously, but still placed in the technical route the key point the research robot software and the military, the universe, the sea, the nuclear engineering and so on the special domain high-quality robot's development, caused Japan's industry robot to catch up, and surpassed the US very quickly in industrial production's application and the robot manufacturing industry, the product has formed the strong competitive power in the international market.
After the 80s, the US only then feels the situation to be urgent, the government and the business community only then truly takes seriously to the robot, in the policy also has manifests, on the one hand encourages the industrial world development and the application robot, on the other hand the making plan, the enhancement investment, increase robot's research funds, regards as the American once more industrialization the robot the characteristic, causes US's robot rapidly expand.
In the late 80s, applies robot's technical gradually maturing along with each big factory, the first generation of robot's technical performance could be getting more and more dissatisfied the actual need, the US starts to produce has the second generation of robot which the vision, the strength thought that and has seized the American 60% robot market very quickly. the US passes through one in the robot history to take the fundamental research freely, the neglect application development research road diversion, but US's robot technology internationally still has been in the leading position. Its technology is comprehensive, is advanced, the compatibility is also very strong. Concrete manifestation in:
(1) the perform reliably, the function is comprehensive, the precision is high;
(2) the robot language study development is quick, the linguistic type many, applies broadly, the level comes first in of high world;
(3) the intelligence technological development is quick, its vision, sense of touch and so on artificial intelligence technology already in astronautics, automobile industry widespread application;
(4) high development and so on intelligent, high difficulty military robot, outer space robot are rapid, mainly uses in the mine clearance, laying mines, the reconnaissance, to stand guard and the outer space survey aspect.
? England
As early as in 1966, American Unimation Corporation's You Ni the Munder robot and the AMF Corporation's fertile sha especially blue robot already took the lead to enter the British market. in 1967 Britain's two greatly mechanical companies also especially for American these two robot company in British sales promotion robot. Then, British Hall Automation Corporation develops own robot RAMP. In the early 70s, because the British government Scientific research Committee has promulgated the denial artificial intelligence and robot's Lighthall reported that has implemented the limit development stern measures to the industry robot, thus the robot industry is unable to recover, almost resides in the lowliest place in Western Europe.
But, internationally the robot vigorous development's situation very quickly causes the British Government to realize: Robot technology's backwardness, causes its commodity in international market competitive power is the drop greatly. Therefore, started from the late 70s, the British government transferred has the support manner, carried out and implements has a series of supported the policies and measures which the robot developed, like the widespread propaganda used robot's importance, in the finance for the purchase robot enterprise subsidy, to promote the robot research unit and the cartel positively and so on, made the British robot to start the prosperous time which and developed vigorously in the realm of production widespread application.
France
France not only resides in the world leader in the robot capacity, moreover is in the world advanced level in the robot application level and the application scope. This mainly gives credit the French government quite takes the robot technology from the very beginning, specially places the key point develops in robot's applied research.
The French robot's development is quite smooth, the primary cause is the research project which supports vigorously through the government, establishes a complete science and technology system. Namely by Official organization some robot foundation technology aspect research project, but applies and develops the aspect by the industrial world support development the work, both complement one another, cause the robot at the French business community very quick development and the popularization.
?German
The Germany industry robot's total occupies world third, is only inferior to Japan and the US. Here said Germany, what mainly refers to is original Federal Republic of Germany. It compared to British and Sweden introduction robot approximately late 56 years. Its therefore so, is because of a Germany's robot industry start, met the domestic economy not to be booming. But Germany's social environment is actually is advantageous to the robot industrial development. Because of the war, causes the labor force to be short, as well as the national technical level is high, is realizes uses robot's advantage. To the 70s mid and late part, the government has used the administrative method to pave the way for robot's promotion; Stipulated in " the improvement work condition plan " that has the danger regarding some, virulently, the harmful operating post, must replace average person's work by the robot. This plan has developed the widespread market for robot's application, and promoted the industry robot technology development. The Rierman nationality is any scientist does not grind the heavy actual nationality, they always insisted the technical application and the social demand unify principle. Is likely same besides the majority countries, the robot main application in the automobile industry, a prominent spot is Germany in the textile industry with the modernized production technological transformations original enterprise, has discarded the old machine, has purchased the modernized automatic equipment, the electronic accounting machine and the robot, causes the textile industry cost to drop, the quality to enhance, the product color and pattern varieties even more is suitable for sale. Caused to 1984 the profession which explained is " is on one's last legs " to promote finally. Meanwhile, Germany saw the robot and so on advanced automated technology to industrial production's function, proposed after 1985, the goal which must to high-level, the belt feel the intelligence robot which shifts. After near ten year endeavors, its intelligent robot's research and the application aspect are in the recognition in the world the leading position.
?Russian
In the former Soviet Union (is mainly in Russia), discusses the robot technology from the theory and the practice is from 50 niandai houbanqi starts. Started the robot prototype's research work to the late 50s. in 1968 trial produced a deep water work robot successfully. in 1971 developed the multi-purpose robots which the factory used. As early as (in 1970 11,975 years) started when the former Soviet Union ninth five-year plan, developed the robot to include in the country scientific technological advance guiding principle. To 1975, has developed 30 models 120 robots, passes through 20 year endeavor, former Soviet Union's robot in quantity, the quality water on is at the world leader position. The country has the destination to enhance the science and technology progress to treat as the impetus social product development the method, arranges robot's research manufacture; The related robot's research production, applies, the promotion and the enhancement work, arranges by the government, to have the plan, to carry on according to the step.
? China
Some people believed that is only to save the labor force using the robot, but our country pool of labor power is rich, develops the robot not necessarily to tally with our country national condition. This is one kind of misunderstanding. In our country, socialist system's superiority had decided the robot can display its strong point fully. It not can only bring the high productive forces and the huge economic efficiency for our country's economic development, moreover for our country's universe development, the ocean development, the nuclear power using and so on emerging domain's development will make the remarkable contribution。
China in “75” the plan the robot row person country key scientific research plan content, has dialed the great sum of money to establish in Shenyang the national first robot research demonstration project, has launched the robot basic theory and the foundation primary device research comprehensively. For several years, develop the demonstration reappearance one after another covering extensive fields and so on transporting, spot welding, arc welding, painting, assembly the industry robot and the underwater operation, military and the special robot. At present, demonstration reappearance robot technology already basic mature, and promotes the application in the factory. Our country produces voluntarily robot painting assembly line in Changchun FAW Cart yard and east wind automotive factory investment movement. in March, 1986 started the national 863 high tech development project has included the research, the development intelligent robot's content. Currently speaking, we should from the production and application angle embarking, unify our country national condition, the increase production structure are simple, cost inexpensive practical robot and certain special robots.
Japanese
Japan is being in the economic depth development time in the late 60s, the yearly rate reaches 11%. After Second World War, Japan's labor force originally anxious, but the high velocity economic development intensified the labor force serious insufficient difficulty. Therefore, Japan introduced the robot and the technology in 1967 by the Kawasaki Heavy industry Company from American Unimation Corporation, the establishment the Production workshop, and trial produced the first Kawasaki in 1968 “especially Nepali Munder” the robot.
Is precisely because Japan at that time labor force remarkable insufficient, robot has received “Savior” in the enterprise welcome. The Japanese governmen
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