礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)【含CAD圖紙、說(shuō)明書(shū)】

畢業(yè)設(shè)計(jì)（論文）中期檢查表填表日期 年 月 日 迄今已進(jìn)行 周剩余 周學(xué)生姓名 系部 汽車工程系 專業(yè)、班級(jí)指導(dǎo)教師姓名 職稱 副教授 從事專業(yè) 車輛工程 是否外聘 是否題目名稱 礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)已完成主要內(nèi)容 待完成主要內(nèi)容畢業(yè)設(shè)計(jì)（論文）工作進(jìn)度學(xué)生填寫(xiě)存在問(wèn)題及努力方向?qū)W生簽字： 指導(dǎo)教師意 見(jiàn)指導(dǎo)教師簽字： 年 月 日教研室意 見(jiàn)教研室主任簽字： 年 月 日SY-025-BY-5開(kāi) 題 報(bào) 告課題名稱 礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)課題來(lái)源 A 課題類型 1 導(dǎo)師姓名 學(xué)生姓名 班級(jí)學(xué)號(hào) 專 業(yè)機(jī)械設(shè)計(jì)制造及其自動(dòng)化一、 課題背景和意義：中國(guó)是一個(gè)自然災(zāi)害和社會(huì)事故多發(fā)的國(guó)家,煤礦事故、泥石流、臺(tái)風(fēng)等 時(shí)有發(fā)生。這些災(zāi)難發(fā)生后現(xiàn)場(chǎng)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(duì)員的生命安全帶來(lái)了很大隱患。因此有必要研制一種能在第一時(shí)間代替搜救隊(duì)員深入到這種危險(xiǎn)災(zāi)難環(huán)境并探測(cè)現(xiàn)場(chǎng)有用信息的移動(dòng)機(jī)器人,為下一步營(yíng)救行動(dòng)的計(jì)劃、決策提供可靠依據(jù)。二、 國(guó)內(nèi)發(fā)展現(xiàn)狀： 我國(guó)已在“七五”計(jì)劃中把機(jī)器人列人國(guó)家重點(diǎn)科研規(guī)劃內(nèi)容，撥巨款在沈陽(yáng)建立了全國(guó)第一個(gè)機(jī)器人研究示范工程，全面展開(kāi)了機(jī)器人基礎(chǔ)理論與基礎(chǔ)元器件研究。1986年3月開(kāi)始的國(guó)家863高科技發(fā)展規(guī)劃已列入研究、開(kāi)發(fā)智能機(jī)器人的內(nèi)容。就目前來(lái)看，我們應(yīng)從生產(chǎn)和應(yīng)用的角度出發(fā)，結(jié)合我國(guó)國(guó)情，加快生產(chǎn)結(jié)構(gòu)簡(jiǎn)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(zhǎng)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(shí)。它不僅有信息收集裝置，如電視攝像機(jī)、易燃?xì)怏w檢測(cè)儀、超聲波探測(cè)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(tái)上，在那里可以為他們提供新鮮空氣。三、 課題主要內(nèi)容：1、 三維模型。2、 設(shè)計(jì)說(shuō)明書(shū)。3、 二維圖紙。4、 參與完成整機(jī)制造和調(diào)試。5、 輸出裝配圖。圖紙量不低于 4 張零號(hào)圖量。四、 課題日程安排：1 第 1、2 周， 接受設(shè)計(jì)任務(wù)，準(zhǔn)備工作（軟硬件） ，檢索資料，遞交開(kāi) 題報(bào)告。2第 3 周， 完成課題的初步分析，熟悉應(yīng)用軟件，進(jìn)入設(shè)計(jì)狀態(tài)，為設(shè)計(jì)制造準(zhǔn)備。3第 4、5、6 周，完成設(shè)計(jì)過(guò)程，三維建模，二維圖紙4第 7、8、9、10 周 整機(jī)制作5第 11 周 調(diào)試6第 12、13 周 完成論文7第 14 周 論文審閱8第 15 周 答辯五、 參考文獻(xiàn)：1. 成大先 主編 機(jī)械設(shè)計(jì)手冊(cè) 化學(xué)工業(yè)出版社，20032. 黃靖遠(yuǎn) 主編機(jī)械設(shè)計(jì)學(xué)機(jī)械工業(yè)出版社，20063. 范文雄 主編機(jī)械制造基礎(chǔ)機(jī)械工業(yè)出版社，2005指導(dǎo)教師意見(jiàn)：指導(dǎo)教師簽名： 日期： 學(xué)院意見(jiàn)：學(xué)院教學(xué)指導(dǎo)委員會(huì)主任簽字： 日期： 填表說(shuō)明：題目類型：1.工程設(shè)計(jì)；2.應(yīng)用研究；3.理論研究； 4.其他題目來(lái)源：A. 自擬課題；B.民用科研課題；C. 國(guó)防科研課題礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)1摘 要本次設(shè)計(jì)的是一款履帶式搜救機(jī)器人基礎(chǔ)級(jí)載體，設(shè)計(jì)內(nèi)容包括設(shè)計(jì)行走底盤和四自由度手臂以及對(duì)機(jī)器人的局部受力情況作了具體的分析。設(shè)計(jì)整體機(jī)器人結(jié)構(gòu)。在設(shè)計(jì)過(guò)程中，不斷的觀察分析其他機(jī)器人的結(jié)構(gòu)，吸取前人經(jīng)驗(yàn)，進(jìn)行方案比較選定。本次畢業(yè)設(shè)計(jì)的重點(diǎn)在于機(jī)器人的研究設(shè)計(jì)工作，由于機(jī)器人整體的設(shè)計(jì)難度較大，材料和機(jī)構(gòu)精度要求較高，本設(shè)計(jì)產(chǎn)品還不能作為成熟產(chǎn)品進(jìn)行加制造，只能形成設(shè)計(jì)方案。關(guān)鍵字：機(jī)器人；履帶底盤；機(jī)械臂；控制電路礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)2AbstractWhat this design was a section of marching fire robot foundation level carrier, the design content walks the chassis including the design and the four degrees-of-freedom arms as well as has made the concrete analysis to robots partial stress situation. Trial manufacturing overall robot structure. In the design trial manufacturing process, the unceasing observation analyzes other robots structure, absorbs the predecessor to experience, carries on the plan quite to designate. And goes down to the factory to process one to carry on the study, brings to completion the processing technique of manufacture, avoids stepping onto only pauses the written design to be separated from the actual manufacture the tortuous path.This graduation projects key point lies in robots trial manufacturing research work, because the robot wholes design difficulty is big, the material and the organization accuracy requirement is high, this trial manufacturing product has not been able to take the mature product to carry on adds the manufacture, can only do for the guidance prototype supplies the reference.Key words: Robot; Caterpillar band chassis; Mechanical arm; Control circuit礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)3目 錄摘 要 .1Abstract.2第一章 緒 論 51.1 項(xiàng)目概述 51.2 目的及意義 51.3 國(guó)內(nèi)外發(fā)展概況 61.4 主要研究?jī)?nèi)容 .10第二章 方案比較與方案選擇 112.1 行走機(jī)構(gòu)方案比較 .112.2 手臂機(jī)構(gòu)方案比較 .122.2.1 蠕動(dòng)式機(jī)械臂 .122.2.2 沿 X、Y、Z 坐標(biāo)軸直線移動(dòng)機(jī)械臂 .122.2.3 仿人類手臂式機(jī)械臂 .132.3 機(jī)械手的設(shè)計(jì) .132.3.1 機(jī)械手主要組成： 132.3.2 手部總體確定： 142.3.3 手指式手部的類型 142.3.4 手部要求： 142.3.5 設(shè)計(jì)時(shí)應(yīng)注意的問(wèn)題 14礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)42.3.6 手指夾緊力的計(jì)算 152.4 驅(qū)動(dòng)力的計(jì)算 152.5 手臂的設(shè)計(jì) .162.5.1 設(shè)計(jì)時(shí)注意的問(wèn)題 162.5.2 動(dòng)力的計(jì)算 16第三章 整體機(jī)構(gòu)設(shè)計(jì) 183.1 爬樓梯的力學(xué)原理 .183.2 回轉(zhuǎn)盤機(jī) .183.2.1 構(gòu)設(shè)計(jì)機(jī)電動(dòng)機(jī)選擇 .183.3 履帶驅(qū)動(dòng)輪機(jī)構(gòu)設(shè)計(jì)機(jī)電動(dòng)機(jī)選擇 .193.4 部分校核 主要參數(shù)計(jì)算方法及強(qiáng)度校核 203.4.1 輪齒傳動(dòng) .203.4.2 蝸桿傳動(dòng) .233.4.3 螺紋連接 .313.5 本章小結(jié) .37第四章 控制電路及控制器設(shè)計(jì) 404.1 控制電路設(shè)計(jì) .404.2 開(kāi)關(guān)元件選用 424.3 控制器設(shè)計(jì) 424.4 本章小結(jié) 42第五章 設(shè)計(jì)總結(jié) .44礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)5參考文獻(xiàn) 45致 謝 .47礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)6第一章 緒 論1.1 項(xiàng)目概述本文介紹的是一種履帶式搜救機(jī)器人設(shè)計(jì), 結(jié)構(gòu)簡(jiǎn)單、制造方便、性能可靠、成本低廉。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(wú)級(jí)調(diào)速，使機(jī)器人行走、轉(zhuǎn)彎更加靈活。整機(jī)共七個(gè)自由度，可實(shí)現(xiàn)物體的夾持、搬運(yùn)、碼放。在消防領(lǐng)域，此機(jī)器人可在加裝聲像傳輸設(shè)備等輔助設(shè)備的情況下，完成火場(chǎng)偵察、勘測(cè)、救援、滅火等任務(wù)。論文在這方面具有一定意義。1.2 目的及意義本題目研制開(kāi)發(fā)一種制造簡(jiǎn)單，使用方便的搜救機(jī)器人。中國(guó)是一個(gè)自然災(zāi)害和社會(huì)事故多發(fā)的國(guó)家,煤礦事故、泥石流、臺(tái)風(fēng)時(shí)有發(fā)生。這些災(zāi)難發(fā)生后現(xiàn)場(chǎng)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(duì)員的生命安全帶來(lái)了很大隱患。因此有必要研制一種能在第一時(shí)間代替搜救隊(duì)員深入到這種危險(xiǎn)災(zāi)難環(huán)境并探測(cè)現(xiàn)場(chǎng)有用信息的移動(dòng)機(jī)器人,為下一步營(yíng)救行動(dòng)的計(jì)劃、決策提供可靠依據(jù)。 搜救機(jī)器人往往需要在高溫、強(qiáng)熱輻射、濃煙、地形復(fù)雜、障礙物多、化學(xué)腐蝕、易燃易爆等惡劣環(huán)境中進(jìn)行火場(chǎng)偵察，化學(xué)危險(xiǎn)品探測(cè)、滅火、冷卻、洗消、破拆、救人、啟閉閥門、搬移物品、堵漏等作業(yè)，因此，作為某種特定功能的消防機(jī)器人應(yīng)該具備以下某項(xiàng)或幾項(xiàng)行走和自衛(wèi)功能： a. 登爬坡、登梯及障礙物跨越功能；b. 耐高溫和抗熱輻射功能；c. 防雨淋功能；d. 防爆(隔爆) 功能； e. 防化學(xué)腐蝕功能； 礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)7f. 防電磁干擾功能；g. 遙控功能等。 1.3 國(guó)內(nèi)外發(fā)展概況美國(guó)是機(jī)器人的誕生地，早在 1962 年就研制出世界上第一臺(tái)工業(yè)機(jī)器人，比起號(hào)稱“機(jī)器人王國(guó) “的日本起步至少要早五六年。經(jīng)過(guò) 30 多年的發(fā)展，美國(guó)現(xiàn)已成為世界上的機(jī)器人強(qiáng)國(guó)之一，基礎(chǔ)雄厚，技術(shù)先進(jìn)。綜觀它的發(fā)展史，道路是曲折的，不平坦的。由于美國(guó)政府從 60 年代到 70 年代中的十幾年期間，并沒(méi)有把工業(yè)機(jī)器人列入重點(diǎn)發(fā)展項(xiàng)目，只是在幾所大學(xué)和少數(shù)公司開(kāi)展了一些研究工作。對(duì)于企業(yè)來(lái)說(shuō)，在只看到眼前利益，政府又無(wú)財(cái)政支持的情況下，寧愿錯(cuò)過(guò)良機(jī)，固守在使用剛性自動(dòng)化裝置上，也不愿冒著風(fēng)險(xiǎn)，去應(yīng)用或制造機(jī)器人。加上，當(dāng)時(shí)美國(guó)失業(yè)率高達(dá) 665，政府擔(dān)心發(fā)展機(jī)器人會(huì)造成更多人失業(yè)，因此不予投資，也不組織研制機(jī)器人，這不能不說(shuō)是美國(guó)政府的戰(zhàn)略決策錯(cuò)誤。70 年代后期，美國(guó)政府和企業(yè)界雖有所重視，但在技術(shù)路線上仍把重點(diǎn)放在研究機(jī)器人軟件及軍事、宇宙、海洋、核工程等特殊領(lǐng)域的高級(jí)機(jī)器人的開(kāi)發(fā)上，致使日本的工業(yè)機(jī)器人后來(lái)居上，并在工業(yè)生產(chǎn)的應(yīng)用上及機(jī)器人制造業(yè)上很快超過(guò)了美國(guó)，產(chǎn)品在國(guó)際市場(chǎng)上形成了較強(qiáng)的競(jìng)爭(zhēng)力。進(jìn)入 80 年代之后，美國(guó)才感到形勢(shì)緊迫，政府和企業(yè)界才對(duì)機(jī)器人真正重視起來(lái)，政策上也有所體現(xiàn)，一方面鼓勵(lì)工業(yè)界發(fā)展和應(yīng)用機(jī)器人，另一方面制訂計(jì)劃、提高投資，增加機(jī)器人的研究經(jīng)費(fèi)，把機(jī)器人看成美國(guó)再次工業(yè)化的特征，使美國(guó)的機(jī)器人迅速發(fā)展。80 年代中后期，隨著各大廠家應(yīng)用機(jī)器人的技術(shù)日臻成熟，第一代機(jī)器人的技術(shù)性能越來(lái)越滿足不了實(shí)際需要，美國(guó)開(kāi)始生產(chǎn)帶有視覺(jué)、力覺(jué)的第二代機(jī)器人，并很快占領(lǐng)了美國(guó) 60的機(jī)器人市場(chǎng)。盡管美國(guó)在機(jī)器人發(fā)展史上走過(guò)一條重視理論研究，忽視應(yīng)用開(kāi)發(fā)研究的曲折道路，但是美國(guó)的機(jī)器人技術(shù)在國(guó)際上仍一直處于領(lǐng)先地位。其技術(shù)全面、先進(jìn)，礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)8適應(yīng)性也很強(qiáng)。具體表現(xiàn)在：性能可靠，功能全面，精確度高；機(jī)器人語(yǔ)言研究發(fā)展較快，語(yǔ)言類型多、應(yīng)用廣，水平高居世界之首；智能技術(shù)發(fā)展快，其視覺(jué)、觸覺(jué)等人工智能技術(shù)已在航天、汽車工業(yè)中廣泛應(yīng)用；高智能、高難度的軍用機(jī)器人、太空機(jī)器人等發(fā)展迅速，主要用于掃雷、布雷、偵察、站崗及太空探測(cè)方面 。英國(guó)早在 1966 年，美國(guó) Unimation 公司的尤尼曼特機(jī)器人和 AMF 公司的沃莎特蘭機(jī)器人就已經(jīng)率先進(jìn)入英國(guó)市場(chǎng)。1967 年英國(guó)的兩家大機(jī)械公司還特地為美國(guó)這兩家機(jī)器人公司在英國(guó)推銷機(jī)器人。接著，英國(guó) Hall Automation 公司研制出自己的機(jī)器人 RAMP。70 年代初期，由于英國(guó)政府科學(xué)研究委員會(huì)頒布了否定人工智能和機(jī)器人的 Lighthall 報(bào)告，對(duì)工業(yè)機(jī)器人實(shí)行了限制發(fā)展的嚴(yán)厲措施，因而機(jī)器人工業(yè)一蹶不振，在西歐差不多居于末位。 但是，國(guó)際上機(jī)器人蓬勃發(fā)展的形勢(shì)很快使英政府意識(shí)到：機(jī)器人技術(shù)的落后，導(dǎo)致其商品在國(guó)際市場(chǎng)上的競(jìng)爭(zhēng)力大為下降。于是，從 70 年代末開(kāi)始，英國(guó)政府轉(zhuǎn)而采取支持態(tài)度，推行并實(shí)施了一系列支持機(jī)器人發(fā)展的政策和措施，如廣泛宣傳使用機(jī)器人的重要性、在財(cái)政上給購(gòu)買機(jī)器人企業(yè)以補(bǔ)貼、積極促進(jìn)機(jī)器人研究單位與企業(yè)聯(lián)合等，使英國(guó)機(jī)器人開(kāi)始了在生產(chǎn)領(lǐng)域廣泛應(yīng)用及大力研制的興盛時(shí)期日本在 60 年代末正處于經(jīng)濟(jì)高度發(fā)展時(shí)期，年增長(zhǎng)率達(dá) 11。第二次世界大戰(zhàn)后，日本的勞動(dòng)力本來(lái)就緊張，而高速度的經(jīng)濟(jì)發(fā)展更加劇了勞動(dòng)力嚴(yán)重不足的困難。為此，日本在 1967 年由川崎重工業(yè)公司從美國(guó) Unimation 公司引進(jìn)機(jī)器人及其技術(shù)，建立起生產(chǎn)車間，并于 1968 年試制出第一臺(tái)川崎的“尤尼曼特” 機(jī)器人。正是由于日本當(dāng)時(shí)勞動(dòng)力顯著不足，機(jī)器人在企業(yè)里受到了“救世主” 般的歡迎。日本政府一方面在經(jīng)濟(jì)上采取了積極的扶植政策，鼓勵(lì)發(fā)展和推廣應(yīng)用機(jī)器人，從而更進(jìn)一步激發(fā)了企業(yè)家從事機(jī)器人產(chǎn)業(yè)的積極性。尤其是政府對(duì)中、小企業(yè)的一系列經(jīng)濟(jì)優(yōu)惠政策，如由政府銀行提供優(yōu)惠的低息資金，鼓勵(lì)集資成立“機(jī)器人長(zhǎng)礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)9期租賃公司” ，公司出資購(gòu)入機(jī)器人后長(zhǎng)期租給用戶，使用者每月只需付較低廉的租金，大大減輕了企業(yè)購(gòu)入機(jī)器人所需的資金負(fù)擔(dān)；政府把由計(jì)算機(jī)控制的示教再現(xiàn)型機(jī)器人作為特別折扣優(yōu)待產(chǎn)品，企業(yè)除享受新設(shè)備通常的 40%折扣優(yōu)待外，還可再享受 13的價(jià)格補(bǔ)貼。另一方面，國(guó)家出資對(duì)小企業(yè)進(jìn)行應(yīng)用機(jī)器人的專門知識(shí)和技術(shù)指導(dǎo)等等。這一系列扶植政策，使日本機(jī)器人產(chǎn)業(yè)迅速發(fā)展起來(lái)，經(jīng)過(guò)短短的十幾年，到80 年代中期，已一躍而為“機(jī)器人王國(guó)” ，其機(jī)器人的產(chǎn)量和安裝的臺(tái)數(shù)在國(guó)際上躍居首位。按照日本產(chǎn)業(yè)機(jī)器人工業(yè)會(huì)常務(wù)理事米本完二的說(shuō)法：“日本機(jī)器人的發(fā)展經(jīng)過(guò)了 60 年代的搖籃期，70 年代的實(shí)用期，到 80 年代進(jìn)人普及提高期。 ”并正式把 1980 年定為“ 產(chǎn)業(yè)機(jī)器人的普及元年 ”，開(kāi)始在各個(gè)領(lǐng)域內(nèi)廣泛推廣使用機(jī)器人。日本政府和企業(yè)充分信任機(jī)器人，大膽使用機(jī)器人。機(jī)器人也沒(méi)有辜負(fù)人們的期望，它在解決勞動(dòng)力不足、提高生產(chǎn)率、改進(jìn)產(chǎn)品質(zhì)量和降低生產(chǎn)成本方面，發(fā)揮著越來(lái)越顯著的作用，成為日本保持經(jīng)濟(jì)增長(zhǎng)速度和產(chǎn)品競(jìng)爭(zhēng)能力的一支不可缺少的隊(duì)伍。日本在汽車、電子行業(yè)大量使用機(jī)器人生產(chǎn)，使日本汽車及電子產(chǎn)品產(chǎn)量猛增，質(zhì)量日益提高，而制造成本則大為降低。從而使日本生產(chǎn)的汽車能夠以價(jià)廉的絕對(duì)優(yōu)勢(shì)進(jìn)軍號(hào)稱“ 汽車王國(guó)”的美國(guó)市場(chǎng)，并且向機(jī)器人誕生國(guó)出口日本產(chǎn)的實(shí)用型機(jī)器人。此時(shí)，日本價(jià)廉物美的家用電器產(chǎn)品也充斥了美國(guó)市場(chǎng)這使“山姆大叔”后悔不已。日本由于制造、使用機(jī)器人，增大了國(guó)力，獲得了巨大的好處。法國(guó)不僅在機(jī)器人擁有量上居于世界前列，而且在機(jī)器人應(yīng)用水平和應(yīng)用范圍上處于世界先進(jìn)水平。這主要?dú)w功于法國(guó)政府一開(kāi)始就比較重視機(jī)器人技術(shù)，特別是把重點(diǎn)放在開(kāi)展機(jī)器人的應(yīng)用研究上。法國(guó)機(jī)器人的發(fā)展比較順利，主要原因是通過(guò)政府大力支持的研究計(jì)劃，建立起一個(gè)完整的科學(xué)技術(shù)體系。即由政府組織一些機(jī)器人基礎(chǔ)技術(shù)方面的研究項(xiàng)目，而由工業(yè)界支持開(kāi)展應(yīng)用和開(kāi)發(fā)方面的工作，兩者相輔相成，使機(jī)器人在法國(guó)企業(yè)界很快發(fā)展和普及。德國(guó)德國(guó)工業(yè)機(jī)器人的總數(shù)占世界第三位，僅次于日本和美國(guó)。這里所說(shuō)的德礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)10國(guó)，主要指的是原聯(lián)邦德國(guó)。它比英國(guó)和瑞典引進(jìn)機(jī)器人大約晚了五六年。其所以如此，是因?yàn)榈聡?guó)的機(jī)器人工業(yè)一起步，就遇到了國(guó)內(nèi)經(jīng)濟(jì)不景氣。但是德國(guó)的社會(huì)環(huán)境卻是有利于機(jī)器人工業(yè)發(fā)展的。因?yàn)閼?zhàn)爭(zhēng)，導(dǎo)致勞動(dòng)力短缺，以及國(guó)民技術(shù)水平高，都是實(shí)現(xiàn)使用機(jī)器人的有利條件。到了 70 年代中后期，政府采用行政手段為機(jī)器人的推廣開(kāi)辟道路；在“改善勞動(dòng)條件計(jì)劃“ 中規(guī)定，對(duì)于一些有危險(xiǎn)、有毒、有害的工作崗位，必須以機(jī)器人來(lái)代替普通人的勞動(dòng)。這個(gè)計(jì)劃為機(jī)器人的應(yīng)用開(kāi)拓了廣泛的市場(chǎng)，并推動(dòng)了工業(yè)機(jī)器人技術(shù)的發(fā)展。日爾曼民族是一個(gè)重實(shí)際的民族，他們始終堅(jiān)持技術(shù)應(yīng)用和社會(huì)需求相結(jié)合的原則。除了像大多數(shù)國(guó)家一樣，將機(jī)器人主要應(yīng)用在汽車工業(yè)之外，突出的一點(diǎn)是德國(guó)在紡織工業(yè)中用現(xiàn)代化生產(chǎn)技術(shù)改造原有企業(yè)，報(bào)廢了舊機(jī)器，購(gòu)買了現(xiàn)代化自動(dòng)設(shè)備、電子計(jì)算機(jī)和機(jī)器人，使紡織工業(yè)成本下降、質(zhì)量提高，產(chǎn)品的花色品種更加適銷對(duì)路。到 1984 年終于使這一被喻為“快完蛋的行業(yè) “重新振興起來(lái)。與此同時(shí)，德國(guó)看到了機(jī)器人等先進(jìn)自動(dòng)化技術(shù)對(duì)工業(yè)生產(chǎn)的作用，提出了 1985 年以后要向高級(jí)的、帶感覺(jué)的智能型機(jī)器人轉(zhuǎn)移的目標(biāo)。經(jīng)過(guò)近十年的努力，其智能機(jī)器人的研究和應(yīng)用方面在世界上處于公認(rèn)的領(lǐng)先地位。有人認(rèn)為，應(yīng)用機(jī)器人只是為了節(jié)省勞動(dòng)力，而我國(guó)勞動(dòng)力資源豐富，發(fā)展機(jī)器人不一定符合我國(guó)國(guó)情。這是一種誤解。在我國(guó)，社會(huì)主義制度的優(yōu)越性決定了機(jī)器人能夠充分發(fā)揮其長(zhǎng)處。它不僅能為我國(guó)的經(jīng)濟(jì)建設(shè)帶來(lái)高度的生產(chǎn)力和巨大的經(jīng)濟(jì)效益，而且將為我國(guó)的宇宙開(kāi)發(fā)、海洋開(kāi)發(fā)、核能利用等新興領(lǐng)域的發(fā)展做出卓越的貢獻(xiàn)。 我國(guó)已在“七五 ”計(jì)劃中把機(jī)器人列人國(guó)家重點(diǎn)科研規(guī)劃內(nèi)容，撥巨款在沈陽(yáng)建立了全國(guó)第一個(gè)機(jī)器人研究示范工程，全面展開(kāi)了機(jī)器人基礎(chǔ)理論與基礎(chǔ)元器件研究。十幾年來(lái)，相繼研制出示教再現(xiàn)型的搬運(yùn)、點(diǎn)焊、弧焊、噴漆、裝配等門類齊全的工業(yè)機(jī)器人及水下作業(yè)、軍用和特種機(jī)器人。目前，示教再現(xiàn)型機(jī)器人技術(shù)已基本成熟，并在工廠中推廣應(yīng)用。我國(guó)自行生產(chǎn)的機(jī)器人噴漆流水線在長(zhǎng)春第一汽車廠及東風(fēng)汽車廠投入運(yùn)行。1986 年 3 月開(kāi)始的國(guó)家 863 高科技發(fā)展規(guī)劃已列入研究、開(kāi)發(fā)智能機(jī)器人的內(nèi)容。就目前來(lái)看，我們應(yīng)從生產(chǎn)和應(yīng)用的角度出發(fā)，結(jié)合我國(guó)國(guó)情，加快生產(chǎn)結(jié)構(gòu)簡(jiǎn)單、成本低廉的實(shí)用型機(jī)器人和某些特種機(jī)器人。礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)111.4 主要研究?jī)?nèi)容本題目主要研究的內(nèi)容是設(shè)計(jì)行走底盤和四自由度手臂，本題目研制開(kāi)發(fā)一種消防機(jī)器人基礎(chǔ)級(jí)載體。對(duì)機(jī)器人的局部受力情況作了具體的分析。 礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)12第二章 方案比較與方案選擇2.1 行走機(jī)構(gòu)方案比較機(jī)器人在地面上移動(dòng)的方式通常有三種：車輪式、履帶式和步行式。 步行移動(dòng)方式是模仿人類或動(dòng)物的行走機(jī)理，用腿腳走路，對(duì)環(huán)境適應(yīng)性好。根據(jù)調(diào)查,在地球上近一半的地面不適合于傳統(tǒng)的輪式或履帶式車輛行走， 但是一般多足動(dòng)物卻能在這些地方行動(dòng)自如,顯然足式與輪式及履帶式行走方式相比具有獨(dú)特的優(yōu)勢(shì). 足式行走對(duì)崎嶇路面具有很好的適應(yīng)能力,足式運(yùn)動(dòng)方式的立足點(diǎn)是離散的點(diǎn),可以在可能到達(dá)的地面上選擇最優(yōu)的支撐點(diǎn)。但是步行移動(dòng)方式的智能程度也相對(duì)較高。正因如此，步行移動(dòng)方式在機(jī)構(gòu)和控制上是最復(fù)雜的，技術(shù)上也還不成熟，不適于在要求靈活和可靠性高的工作環(huán)境中。 車輪式移動(dòng)是最常見(jiàn)的一種地面行進(jìn)方式。車輪式移動(dòng)的優(yōu)點(diǎn)是：能高速穩(wěn)定的移動(dòng)，能量利用效率高，機(jī)構(gòu)和控制簡(jiǎn)單，而且技術(shù)比較成熟。驅(qū)動(dòng)與轉(zhuǎn)彎?rùn)C(jī)構(gòu)可分以下幾種形式：1. 驅(qū)動(dòng)、轉(zhuǎn)向輪一體徑向轉(zhuǎn)向，如同前驅(qū)動(dòng)式轎車2. 驅(qū)動(dòng)輪、轉(zhuǎn)向輪分置，如同后驅(qū)動(dòng)式卡車3. 兩側(cè)驅(qū)動(dòng)輪異速轉(zhuǎn)彎，如同輪椅前兩種驅(qū)動(dòng)轉(zhuǎn)彎形式不單要設(shè)計(jì)有合理的驅(qū)動(dòng)機(jī)構(gòu)，還要有較好的轉(zhuǎn)向機(jī)構(gòu)，增加了自由度的同時(shí)又要考慮為這個(gè)自由度提供動(dòng)力單元，以及轉(zhuǎn)向差速系統(tǒng)，使得整機(jī)復(fù)雜程度大大提升，機(jī)構(gòu)繁瑣，穩(wěn)定性降低。第三種形式僅用一套差速系統(tǒng)和一組跟蹤輪就可實(shí)現(xiàn)轉(zhuǎn)向，可是跟蹤輪通常采用萬(wàn)向輪，無(wú)規(guī)則定向，在路面情況復(fù)雜下行駛極其不穩(wěn)定，且在停止和啟動(dòng)時(shí)遵循前一運(yùn)動(dòng)狀態(tài)軌跡，缺乏應(yīng)急靈活性。而其車輪式移動(dòng)共有的缺點(diǎn)就是對(duì)路面要求較高，適于平整硬質(zhì)路面。越障性能嚴(yán)重缺失。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，礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)13所以著地壓強(qiáng)??；另外與路面黏著力強(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(guò)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。2.2 手臂機(jī)構(gòu)方案比較對(duì)于整體行走機(jī)器人載具而言，行走機(jī)構(gòu)只是用來(lái)完成大空間內(nèi)整體移動(dòng)和工作頭部分在平面內(nèi)大幅度間接調(diào)整。其運(yùn)動(dòng)軌跡和幅度難以充分滿足三維空間運(yùn)動(dòng)和精度要求。為了能使工作頭部分能夠在三維空間觸及工作點(diǎn)工作面并且能夠精確完成工作任務(wù)引入了連接在行走機(jī)構(gòu)與工作頭之間的，較行走機(jī)構(gòu)傳動(dòng)更精準(zhǔn)、運(yùn)動(dòng)更平穩(wěn)的機(jī)械臂機(jī)構(gòu)。機(jī)械臂按其運(yùn)動(dòng)機(jī)理可分為以下三種：2.2.1 蠕動(dòng)式機(jī)械臂這種機(jī)械臂源自仿生學(xué)中對(duì)蟲(chóng)子蠕動(dòng)的模仿。通過(guò)沿徑向布置的很多個(gè)旋轉(zhuǎn)關(guān)節(jié)或扭轉(zhuǎn)關(guān)節(jié)機(jī)構(gòu)的聯(lián)動(dòng)來(lái)實(shí)現(xiàn)工作頭空間內(nèi)多組相鄰圓心圓截面上各點(diǎn)工作。這種機(jī)械臂絕對(duì)是各種機(jī)械臂中自由度最高的一類。但因其要求每個(gè)旋，扭轉(zhuǎn)關(guān)節(jié)機(jī)構(gòu)都要求有獨(dú)立動(dòng)力，且聯(lián)動(dòng)的位移是由多個(gè)關(guān)節(jié)機(jī)構(gòu)非等值分擔(dān)，這就對(duì)動(dòng)力部分、傳動(dòng)精度、控制精度提出了極高要求。不但設(shè)計(jì)制造極其困難，通過(guò)使用機(jī)械控制簡(jiǎn)單電路控制是極難完成的控制的。所以只出現(xiàn)在高端機(jī)器人領(lǐng)域具處于設(shè)計(jì)試制階段。對(duì)于基礎(chǔ)層次機(jī)械設(shè)計(jì)制造這相當(dāng)于不可完成的任務(wù)。2.2.2 沿 X、Y、Z 坐標(biāo)軸直線移動(dòng)機(jī)械臂在三維立體空間內(nèi)分別沿 X、Y、Z 軸做直線運(yùn)動(dòng)就可以到達(dá)一個(gè)立方體內(nèi)的各個(gè)點(diǎn)進(jìn)行工作，這是一種撒網(wǎng)式的搜羅。在三軸分動(dòng)時(shí)工作頭位移軌跡是沿空間內(nèi)沿 X、Y、Z 方向線段的連接，當(dāng)三軸聯(lián)動(dòng)時(shí)，工作頭運(yùn)動(dòng)軌跡便是空間內(nèi)的一條曲線。完成工作動(dòng)作直接快捷，且只有三個(gè)軸線位移，整機(jī)運(yùn)動(dòng)平穩(wěn)可靠，精度礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)14頗高。所以多用于機(jī)床加工中心等機(jī)械上，但其機(jī)體必須含有沿 X、Y 、Z 軸方向，長(zhǎng)度至少等于三軸位移長(zhǎng)度一半的三個(gè)相連的空間垂直架體。這種就有相對(duì)較大的非工作狀態(tài)機(jī)構(gòu)所占空間和整體體積，但對(duì)于行走式機(jī)器人載具而言，對(duì)體積和自重的限制是極其嚴(yán)格的，要求盡量減小自身負(fù)載體積，以適應(yīng)工作環(huán)境。2.2.3 仿人類手臂式機(jī)械臂這種結(jié)構(gòu)的手臂有旋轉(zhuǎn)機(jī)構(gòu)、大臂搖動(dòng)機(jī)構(gòu)、小臂搖動(dòng)機(jī)構(gòu)和手腕機(jī)構(gòu)四部分組成在同一平面內(nèi)三個(gè)旋轉(zhuǎn)自由度被安裝在一個(gè)垂直此平面的旋轉(zhuǎn)盤上，手腕、小臂、大筆的須按轉(zhuǎn)是工作頭觸點(diǎn)在三個(gè)自由度連線平面內(nèi)。形成了一個(gè)平面工作區(qū)域，通過(guò)旋轉(zhuǎn)盤的帶動(dòng)，是這個(gè)平面工作區(qū)域繞 Z 軸須按轉(zhuǎn)，形成了一個(gè)立體工作空間。這種手臂機(jī)構(gòu)在工作中狀態(tài)下可以收縮減小空間，傳動(dòng)距離較短，結(jié)構(gòu)可靠性能好，能夠出色的完成工作空間內(nèi)一點(diǎn)到另一點(diǎn)的最有運(yùn)動(dòng)軌跡位移。2.3 機(jī)械手的設(shè)計(jì)機(jī)械手的手部是用來(lái)抓持工件（或工具）的部件。手部抓持工件的迅速、準(zhǔn)確和牢靠程度都將直接影響到機(jī)械手的工作性能，它是機(jī)械手的關(guān)鍵部件之一。2.3.1 機(jī)械手主要組成：機(jī)械手主要是由執(zhí)行系統(tǒng)，驅(qū)動(dòng)系統(tǒng)，控制系統(tǒng)三大部分組成。執(zhí)行部分執(zhí)行系統(tǒng)是機(jī)械手的機(jī)械傳動(dòng)結(jié)構(gòu)部分。它包括手、手腕、手臂和機(jī)座等部件。驅(qū)動(dòng)系統(tǒng)驅(qū)動(dòng)系統(tǒng)是驅(qū)動(dòng)執(zhí)行系統(tǒng)的動(dòng)力裝置。驅(qū)動(dòng)系統(tǒng)有液壓驅(qū)動(dòng)，氣壓驅(qū)動(dòng)，電力礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)15驅(qū)動(dòng)和機(jī)械驅(qū)動(dòng)等方式。控制系統(tǒng)控制系統(tǒng)是支配執(zhí)行系統(tǒng)按規(guī)定程序動(dòng)作得到電氣控制裝置?？刂葡到y(tǒng)所控制的因素包括執(zhí)行系統(tǒng)各部的動(dòng)作、動(dòng)作順序、位置、時(shí)間和速度等。2.3.2 手部總體確定：手部是承擔(dān)抓取功能的機(jī)構(gòu)，由手指?jìng)髁C(jī)構(gòu)和驅(qū)動(dòng)裝置等組成，是機(jī)械手的重要組成部分之一。根據(jù)被抓起部件的材料，形狀，尺寸以及一些特性的不同，此機(jī)械手部分為手指式。2.3.3 手指式手部的類型手指式手部是以手指的張開(kāi)和閉合來(lái)實(shí)現(xiàn)抓持工件。它對(duì)抓取各種形狀的工件具有較大的適應(yīng)性，故應(yīng)用最廣。一般手指式手部具有兩指，三指或者多指，后者應(yīng)用較少。而次此設(shè)計(jì)手指為兩指式手指。手指式手部按手指的運(yùn)動(dòng)形式可分為回轉(zhuǎn)型和平移型?；剞D(zhuǎn)型又分為單支點(diǎn)和雙支點(diǎn)兩種?；剞D(zhuǎn)型手部多用于抓持圓柱形工件，平移型用于抓持方形工件。2.3.4 手部要求：1) 手指應(yīng)具有足夠的加緊力。在考慮手指的加緊力時(shí)，除考慮工件的重量外，還應(yīng)考慮工件在傳送過(guò)程中產(chǎn)生的慣性力和震動(dòng)等影響，以保證夾持牢靠。2) 各構(gòu)件要有足夠的剛度的強(qiáng)度。3) 構(gòu)件要簡(jiǎn)單，修理方便。4) 應(yīng)盡可能結(jié)構(gòu)緊湊。使之重量輕，動(dòng)作靈活。2.3.5 設(shè)計(jì)時(shí)應(yīng)注意的問(wèn)題）手指應(yīng)有足夠的夾緊力。為使手指牢靠的夾緊工件，除考慮被抓持工件的礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)16重力外。還應(yīng)考慮工件在傳送過(guò)程中所產(chǎn)生的動(dòng)載荷。）手指應(yīng)有一定的開(kāi)閉范圍，其大小不僅與工件尺寸有關(guān)，而且須注意手部接近工件的運(yùn)動(dòng)路線及方位的影響。）應(yīng)保證工件在手指內(nèi)準(zhǔn)確定位。）結(jié)構(gòu)盡量緊湊、重量輕，以利于腕部和臂部的結(jié)構(gòu)設(shè)計(jì)。）根據(jù)應(yīng)用條件考慮通用性。2.3.6 手指夾緊力的計(jì)算手指對(duì)工件的夾緊力可按下式計(jì)算：12 3 kgf （2.1）式中1 安全系數(shù)（通常取 1.52）2 工作情況系數(shù)，主要考慮慣性力的影響，可按2a/g 估算a 為機(jī)械手在搬運(yùn)工件過(guò)程的加速度 m/s 2g 為重力加速度 m/s 23方位系數(shù)被抓持工件的重量 kg 、2.4 驅(qū)動(dòng)力的計(jì)算手指夾持工件所需要驅(qū)動(dòng)力的大小，在同一夾緊力的條件下，隨所采用的傳動(dòng)結(jié)構(gòu)的不同而異。但其計(jì)算方法都是按照具體的傳動(dòng)機(jī)構(gòu)進(jìn)行力的分析，根據(jù)力系平衡原理來(lái)進(jìn)行的。P1=Na/bsin/sin(+a) 礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)17根據(jù)受力的平衡條件可得驅(qū)動(dòng)力為:P=2P1sina=2Na/bsinsina/sin(+a) （2.2)2.5 手臂的設(shè)計(jì)手臂部是機(jī)械手的主要執(zhí)行部件,其作用是支承手部。手部在空間的活動(dòng)范圍主要取決于臂部的運(yùn)動(dòng)形式。2.5.1 設(shè)計(jì)時(shí)注意的問(wèn)題手臂部的運(yùn)動(dòng)和結(jié)構(gòu)形式對(duì)機(jī)械手的工作性能有著較大的影響。設(shè)計(jì)時(shí)應(yīng)注意下列幾點(diǎn)：（1）剛度要好 要合理選擇臂部的截面形狀和輪廓尺寸。實(shí)踐證明，空心桿比實(shí)心桿剛度大得多。常用鋼管作臂部和導(dǎo)向桿，用工字鋼和槽鋼作支承板，以保證有足夠的剛度。（2）偏重力矩要小 偏重力矩是指臂部的總重量對(duì)其支承或回轉(zhuǎn)軸所產(chǎn)生的力矩。它對(duì)臂部的升降運(yùn)動(dòng)和轉(zhuǎn)動(dòng)，均將產(chǎn)生影響，設(shè)計(jì)時(shí)應(yīng)使臂部各部分的質(zhì)量分布合理，以減少其偏重力矩。（3）重量要輕慣量要小 由于機(jī)械手在高速情況下經(jīng)常起停和換向，為了減少在運(yùn)動(dòng)狀態(tài)變化時(shí)所產(chǎn)生的沖擊，必須采取有效的緩沖裝置外，力求結(jié)構(gòu)緊湊，重量輕，以減少慣性力。（4）導(dǎo)向性要好 為了防止臂部在直線移動(dòng)中沿運(yùn)動(dòng)軸線發(fā)生相對(duì)轉(zhuǎn)動(dòng)，以保證手部的正確方向和準(zhǔn)確定位，必須有導(dǎo)向裝置。其結(jié)構(gòu)應(yīng)根據(jù)臂部的安裝形式、抓取重量和運(yùn)動(dòng)行程等因素來(lái)確定。2.5.2 動(dòng)力的計(jì)算1)手臂水平伸縮時(shí):P 驅(qū)=P 摩 +P 慣(公斤力)礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)18式中 P 驅(qū) 驅(qū)動(dòng)力P 摩 摩擦力( 包括手臂伸縮導(dǎo)軌間、導(dǎo)向桿間和密封裝置處的摩擦阻力,公斤力)P 慣 手臂在啟動(dòng)過(guò)程中的慣性力 ,其大小可按下式近似計(jì)算:P 慣=G 伸V/g t(公斤力)式中 G 伸隨同手臂伸縮部件總重量(公斤力)G重力加速度(m/s )2V手臂的工作速度( m/s)T起動(dòng)過(guò)程所用時(shí)間(秒)2)手臂升降時(shí):P 驅(qū)=P 摩+P 慣+G 升( 公斤力)式中 G 升隨同手臂升降部件總重量(公斤力)3)手臂水平左右擺動(dòng)時(shí):M 驅(qū)= M 摩+M 慣(公斤力 米)式中 M 驅(qū)驅(qū)動(dòng)力矩(公斤力米)M 摩摩擦力矩(包括轉(zhuǎn)軸支撐處和密封裝置處的摩擦阻力矩 , 公斤力米)M 慣手臂在起動(dòng)過(guò)程中的慣性力矩.可按下式計(jì)算 :M 慣=Jw/t(公斤力米)式中 J隨同手臂擺動(dòng)部件對(duì)轉(zhuǎn)軸的轉(zhuǎn)動(dòng)慣量W手臂擺動(dòng)的角速度（ 1/秒）第三章 整體機(jī)構(gòu)設(shè)計(jì)3.1 爬樓梯的力學(xué)原理基于遙控電動(dòng)小車爬越一定高臺(tái)的原理,對(duì)具有擺臂結(jié)構(gòu)的移動(dòng)車體爬越樓梯礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)19進(jìn)行了相關(guān)的力學(xué)分析.整個(gè)爬越過(guò)程可以分成兩個(gè)階段:第一階段,先將兩側(cè)擺臂搭在臺(tái)階上 ,然后同時(shí)驅(qū)動(dòng)三臺(tái)電機(jī),使車體在行走機(jī)構(gòu)和擺動(dòng)機(jī)構(gòu)的共同作用下,順利地爬到第二個(gè)臺(tái)階,此時(shí)車體實(shí)現(xiàn)了地面、第一、二臺(tái)階處的三點(diǎn)接觸; 第二個(gè)階段,小車只需在行走機(jī)構(gòu)的作用下如同上坡地一樣緩緩地向上爬.由此可以看出,只要保證行走機(jī)構(gòu)在結(jié)構(gòu)設(shè)計(jì)上至少能夠同時(shí)與兩個(gè)臺(tái)階點(diǎn)接觸,就能實(shí)現(xiàn)第二階段運(yùn)行的平穩(wěn)性和可靠性,故在此不再贅述,僅對(duì)第一階段進(jìn)行分析.假設(shè)臺(tái)階是光滑的(這樣便于分析討論),擺臂的重心處于擺臂中心軸線上距大輪點(diǎn)1/3處,整個(gè)車體的重心位于車體幾何中心處 .由于擺臂末端的小帶輪呈圓弧形而且它與臺(tái)階之間為線接觸,為避免發(fā)生打滑,應(yīng)至少保證小帶輪的幾何中心處于接觸點(diǎn)的正上方。在爬越高度為H0 的臺(tái)階時(shí),即前輪剛離開(kāi)地面的瞬間,整車和擺臂的受力情況。3.2 回轉(zhuǎn)盤機(jī)3.2.1 構(gòu)設(shè)計(jì)機(jī)電動(dòng)機(jī)選擇由于整個(gè)臂部機(jī)構(gòu)和預(yù)設(shè)負(fù)載重量（約 9 kg）較大，且重心極限位置旋轉(zhuǎn)半徑（約 400mm）較大，所以在轉(zhuǎn)盤設(shè)計(jì)時(shí)必須考慮機(jī)構(gòu)較大的旋轉(zhuǎn)慣性力。所以選帶傳動(dòng)方式。帶傳動(dòng)傳動(dòng)平穩(wěn)能緩沖吸振，且可大傳動(dòng)臂設(shè)計(jì)，將從動(dòng)帶輪設(shè)計(jì)較大半徑，以減小傳動(dòng)帶拉力，正符合此機(jī)構(gòu)要求。即從動(dòng)大帶輪直徑 d1 為 50mm 設(shè)計(jì),轉(zhuǎn)速 n1 應(yīng)盡量小，設(shè)在 0.1 轉(zhuǎn)/秒主動(dòng)帶輪選用成套機(jī)構(gòu)，帶輪直徑 d0 為 10mm則主動(dòng)帶輪轉(zhuǎn)速 n0 為礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)20n0 / n1 = d1 / d0圖. 傳動(dòng)方案簡(jiǎn)圖n0 = n1 * （d1 / d0 ）= 0.1 * （50 / 10）= 0.5 轉(zhuǎn)/秒物品清單中，符合此要求的電動(dòng)機(jī)只有一種。即 12ZYJ-60J 系列永磁直流減速電機(jī)轉(zhuǎn)速 30 轉(zhuǎn)/分鐘功率 10W驗(yàn)算證明滿足機(jī)構(gòu)力學(xué)要求。3.3 履帶驅(qū)動(dòng)輪機(jī)構(gòu)設(shè)計(jì)機(jī)電動(dòng)機(jī)選擇 驅(qū)動(dòng)輪設(shè)計(jì)減速電機(jī)輸出軸直接安裝鏈輪。鏈輪上加掛自制履帶。設(shè)計(jì)履帶摩擦面到鏈輪回轉(zhuǎn)中心的旋轉(zhuǎn)半徑為 25mm設(shè)計(jì)直線行走最大速度為 150mm/s則驅(qū)動(dòng)電功轉(zhuǎn)速為 6 轉(zhuǎn)/秒預(yù)設(shè)整機(jī)與負(fù)載總重 30 kg 最大爬坡角為 45，則履帶最大拉力 F 為F = F 重 / sin= 70.13= 404.328N取高整值為 430N,兩條履帶驅(qū)動(dòng)，單根受力為F 單 = F / 2 = 430 / 2= 150N直線行走最大速度 V 為 150mm/s礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)21單根履帶受力 F 為 150N則功率為P = F * V= 01.51= 22.5W考慮技術(shù)要求及功率損失選用 62KTYJ 系列單相可逆永磁同步電機(jī)轉(zhuǎn)速 36 轉(zhuǎn)/分鐘功率 30W3.4 部分校核 主要參數(shù)計(jì)算方法及強(qiáng)度校核3.4.1 輪齒傳動(dòng)一. 輪齒的受力分析1.直齒將作用在輪齒上的法向力 Fn 分解為一對(duì)互相垂直的力，即徑向力 Fr 和圓周力 Ft，大小分別為： 12dTFgattr（3.1）方向：Fr 指向各自的軸線；Ft 在主動(dòng)輪上與轉(zhuǎn)向相反，從動(dòng)軸上與轉(zhuǎn)向相同。2.斜齒將作用在輪齒上的法向力 Fn 分解為三個(gè)互相垂直的力，即徑向力 Fr、圓周力Ft 和軸向力 Fa 大小分別為：礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)2212cosdTFtgatnr（3.2） tgra方向：Fr 指向各自的軸線；Ft 在主動(dòng)輪上與轉(zhuǎn)向相反，從動(dòng)軸上與轉(zhuǎn)向相同。Fa 自齒的工作面指向齒體。二.輪齒的計(jì)算載荷 FtcFtc=KFt1. 齒輪彎曲疲勞強(qiáng)度計(jì)算1.直齒強(qiáng)度校核公式： FsFdsFdsFF YmZKTYTYmbdKTaaa 2223111 （3.3）設(shè)計(jì)公式： 321sFdYZKTma2.斜齒強(qiáng)度校核公式：礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)23FsFdadpsFaF YmZKTYmbdKTa22 31211 （3.4）設(shè)計(jì)公式： 3213cospsFdaYZKTma（3.5）開(kāi)式齒輪傳動(dòng) m 應(yīng)加大 1015，不需疲勞強(qiáng)度校核。2. 齒面接觸疲勞強(qiáng)度計(jì)算1.直齒強(qiáng)度校核公式：HHKubdTZ)1(2（3.6）設(shè)計(jì)公式：3123211)()2dHKHdTuZuaT（3.7）2.斜齒強(qiáng)度校核公式：礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)24HpHKubdTZ)1(2（3.8）設(shè)計(jì)公式： 3 123 211)()2dHKHd TuZuaT3. 齒輪的許用應(yīng)力一.接觸疲勞許用應(yīng)力NHZSmin（3.9）二.彎曲疲勞許用應(yīng)力SrNFYmin（3.10）3.4.2 蝸桿傳動(dòng)1. 蝸桿傳動(dòng)的參數(shù)和幾何尺寸1. 普通圓柱蝸桿傳動(dòng)的主要參數(shù)礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)25圖 3.1 普通圓柱蝸桿傳動(dòng)（1）模數(shù) m 和壓力角 a蝸桿和蝸輪嚙合的中間平面上，蝸桿的軸面模數(shù)、壓力角應(yīng)與蝸輪的端面模數(shù)、壓力角相等，即 21a（2）蝸桿的分度圓直徑 1d蝸桿的分度圓直徑 mq， 為模數(shù)，q 為蝸桿的直徑系數(shù)，已有標(biāo)準(zhǔn)值,且與模數(shù)相匹配。（3）蝸桿頭數(shù) 1z蝸桿頭數(shù) 通常取為 1、2、4、6，也可根據(jù)要求的傳動(dòng)比和效率來(lái)選定。（4）導(dǎo)程角mdq1礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)26qzdmPzaZ11tan（3.11）（5）傳動(dòng)比 i 和齒數(shù)比 u傳動(dòng)比 21ni，齒數(shù)比 21z， （ n、 2為蝸桿和蝸輪的轉(zhuǎn)速，單位為r/min， z為蝸輪的齒數(shù)）當(dāng)蝸桿主動(dòng)時(shí)，有 uzni21（6）蝸輪齒數(shù)蝸輪齒數(shù)主要根據(jù)傳動(dòng)比來(lái)確定，通常規(guī)定 大于 28，一般不大于 80。（7）蝸桿傳動(dòng)的標(biāo)準(zhǔn)中心距mzqda21（3.12）變位蝸桿的中心距為21xda（3.13）2. 蝸桿傳動(dòng)的幾何尺寸計(jì)算普通圓柱蝸桿傳動(dòng)主要參數(shù)的基本公式中心距mzqda21（標(biāo)準(zhǔn)傳動(dòng)中心距）x（變位后實(shí)際中心距）蝸桿軸向齒距礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)27mP蝸桿導(dǎo)程 1zz蝸桿分度圓直徑 mqd1蝸桿導(dǎo)程角 tan=qzd1蝸輪變位系數(shù) 2zx（ 為變位后齒輪的實(shí)際齒數(shù)）如圖 3.2 所示圖 3.2 普通圓柱蝸桿傳動(dòng)的基本幾何尺寸3. 普通圓柱蝸桿承載能力的計(jì)算1. 蝸桿傳動(dòng)的失效形式和設(shè)計(jì)準(zhǔn)則蝸桿傳動(dòng)的失效形式有點(diǎn)蝕、齒根折斷、齒面膠合及過(guò)度磨損等。由于蝸桿螺旋齒部分的強(qiáng)度總是高于蝸輪輪齒的強(qiáng)度，所以失效經(jīng)常發(fā)生在蝸輪輪齒上。因此，一般只對(duì)蝸輪輪齒進(jìn)行承載能力計(jì)算。礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)28在開(kāi)式傳動(dòng)中，以保證齒根彎曲疲勞強(qiáng)度作為開(kāi)式傳動(dòng)的主要設(shè)計(jì)準(zhǔn)則。在閉式傳動(dòng)中，通常是按齒面接觸疲勞強(qiáng)度進(jìn)行設(shè)計(jì)，而按齒根彎曲疲勞強(qiáng)度進(jìn)行校核。另外，閉式蝸桿傳動(dòng)散熱較為困難，還應(yīng)作熱平衡核算。蝸桿一般是用碳鋼或合金鋼制成。常用的蝸輪材料為鑄造錫青銅、鑄造鋁鐵青銅及灰鑄鐵等。2. 蝸桿傳動(dòng)的受力分析Fn 是垂直指向節(jié)點(diǎn) P 的正壓力，可分解為圓周力 Ft、徑向力 Fr 和軸向力Fa，三力互相垂直。在蝸輪、蝸桿間，F(xiàn)a1 與 Fa2、Fr1 與 Fr2 和 Ft1 與 Ft2 三對(duì)力大小相等、方向相反。在進(jìn)行蝸桿傳動(dòng)的受力分析時(shí)，首先判別蝸桿的螺旋方向是右旋還是左旋，其次按左、右手法則確定作用于蝸桿上軸向力 Ft1 的方向，這樣就可以定出作用于蝸輪上的圓周力 Ft2 的方向和蝸輪的轉(zhuǎn)動(dòng)方向。礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)29圖 3.3 蝸桿傳動(dòng)的受力分析各力計(jì)算公式為121dTFa(3.14)21ta(3.15)tan21rF coscoscos21 nntnan dTF4. 蝸桿傳動(dòng)的強(qiáng)度計(jì)算礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計(jì)30（1）蝸輪齒根彎曲疲勞強(qiáng)度計(jì)算在蝸桿傳動(dòng)時(shí)，蝸桿傳動(dòng)強(qiáng)度計(jì)算即為蝸輪齒的強(qiáng)度計(jì)算。因蝸輪的齒形比較復(fù)雜，精確計(jì)算比較困難，故常把蝸輪近似地看成斜齒圓柱齒輪計(jì)算，其齒根彎曲疲勞強(qiáng)度計(jì)算公式為1532FPFaFmdYKT(3.16)設(shè)計(jì)公式為 15322FPazYTd式中： 2FaY蝸輪的齒形系數(shù)； P螺旋角影響系數(shù)；K載荷系數(shù)， vAK。（2）蝸輪齒面接觸疲勞強(qiáng)度計(jì)算蝸輪齒面接觸強(qiáng)度計(jì)算也和斜齒圓柱齒輪相似，其公式為HpKHaTZ32(3.17)322)(Hp(3.18)式中： KZ材料的彈性影響系數(shù)， Ma；p蝸桿傳動(dòng)的接觸線長(zhǎng)度和曲率半徑對(duì)接觸強(qiáng)度的影響系數(shù)，簡(jiǎn)稱接觸系數(shù)。5. 普通圓柱蝸桿傳動(dòng)的效率、潤(rùn)滑和熱平衡計(jì)算 附錄一：英文原文RobotG. Gary WangAssistantProfessorDept.ofMechanicalandIndustrialEngineering,UniversityofManitoba,Winnipeg,MB, R3T 5V6 Canadae Robots classificationSeveral thousand years ago the humanity longed for that makes one kind of elephant persons 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 fables 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 words appearance and the world the first industry robot comes out, the different functions 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. Robots many type, broad application, affects the depth, is we are unexpected. Divides from robots use, may divide into two broad headings:Military robot: ground military robotThe 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 persons surveillance, when encounters the difficulty the operators may carry on the remote control intervention. unmanned aerial vehicleIs called the airborne robots unmanned aerial vehicle is in the military robot develops the quickest family, the first autopilot has been published since 1913, unmanned aerial vehicles 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 vehicles 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 vehicles 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 robotThe 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 methods 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 robotThe 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 robotThe service robot is in a robot familys young member, so far still did not have a strict definition, the different country to serves robots understanding also to have certain difference. Serves robots 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 robotThe entertainment robot take watches, the entertainment for the human as a goal, has robots 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 robots function, may walk or complete the movement, may have the verbal skill, will sing, has certain sensation ability. kind of person robotMay see from other categorys robot, the majority robots do not look like the human, some do not even have a persons 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 persons 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 persons 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 robotBecause 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 farmers symbol. But recent years agricultural robots being published, hopefully changed traditional the work way. In the agricultural robots aspect, Japan resides in head at present the various countries.Robot historyUSThe US is robots 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 70ss 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 governments 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 robots development, caused Japans industry robot to catch up, and surpassed the US very quickly in industrial productions 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 robots research funds, regards as the American once more industrialization the robot the characteristic, causes USs robot rapidly expand.In the late 80s, applies robots technical gradually maturing along with each big factory, the first generation of robots 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 USs 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. EnglandAs early as in 1966, American Unimation Corporations You Ni the Munder robot and the AMF Corporations fertile sha especially blue robot already took the lead to enter the British market. in 1967 Britains 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 robots 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 developments situation very quickly causes the British Government to realize: Robot technologys 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 robots 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.FranceFrance 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 robots applied research.The French robots 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.GermanThe Germany industry robots 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 Germanys robot industry start, met the domestic economy not to be booming. But Germanys 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 robots advantage. To the 70s mid and late part, the government has used the administrative method to pave the way for robots promotion; Stipulated in “ the improvement work condition plan “ that has the danger regarding some, virulently, the harmful operating post, must replace average persons work by the robot. This plan has developed the widespread market for robots 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 ones last legs “ to promote finally. Meanwhile, Germany saw the robot and so on advanced automated technology to industrial productions 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 robots research and the application aspect are in the recognition in the world the leading position.RussianIn 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 prototypes 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 Unions 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 robots research manufacture; The related robots research production, applies, the promotion and the enhancement work, arranges by the government, to have the plan, to carry on according to the step.ChinaSome 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 systems 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 countrys economic development, moreover for our countrys universe development, the ocean development, the nuclear power using and so on emerging domains 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 robots 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.JapaneseJapan is being in the economic depth development time in the late 60s, the yearly rate reaches 11%. After Second World War, Japans 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 government has adopted the positive prop policy at the same time in the economy, encourages to develop and the promoted application robot, thus the f