灾害救援机器人车体与控制系统设计.doc
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灾害救援机器人车体与控制系统设计,disaster relief and control system design of robot body28300字 59页我自己的毕业设计作品，确保原创，仅在本站独家提交，大家放心使用！摘 要每年，全球都会发生不计其数的灾难，不论是人为灾害还是自然灾害，都造成成千上万的人失去生命...
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灾害救援机器人车体与控制系统设计
Disaster relief and control system design of robot body
28300字 59页
我自己的毕业设计作品，确保原创，仅在本站独家提交，大家放心使用！
摘 要
每年，全球都会发生不计其数的灾难，不论是人为灾害还是自然灾害，都造成成千上万的人失去生命和难以计数的财富损失。在灾害面前人类的力量或许是微小的，但人类跟自然的斗争将继续下去，尤其是进入20世纪后人们在灾害救援方面投入了非常多的精力和财富，许多产品在灾害救援中展现了优秀的表现。就全球灾害救援机器人的发展趋势来看，人们在救火机器人和矿井救援机器人等方面表现了更多的兴趣。而本设计所涉及的就是救火救灾机器人这一方面。设想一种机器人能在火场中行走，及时提供现场或近距离的火场情况，或近距离实施援或灭火，那就会大大减少或避免人员的伤亡，并提高救火灭火效率。消防机器人的研究被人们越来越重视。
消防机器人由三个部分组成，分别是行走机构设计，车体设计总装及控制，消防冷却系统的设计。本论文主要是车体设计总装及系统控制，首先经过具体的调研和参考同类设计确定车体大概外廓尺寸，再选标准的功能部件和确定具体的安装，从而确定车的具体结构，选择车体传感器，最后选择相应的控制系统和确定消防机器人基本功能的控制算法。
本文具体内容主要包括以下几个方面：
1. 工业机器人的作用和消防机器人的发展，需要具备的基本功能和基本构成以及需要进一步研究的问题。
2. 车体的设计计算及其功能部件的选择。
3. 消防机器人上传感器的选择及其具有的特点。
4 消防机器人控制系统及其基本算法。
5 对消防机器人的特点，存在的问题及其相应的解决方法的阐述。
消防机器人具有越障，避障，探测和灭火的基本功能，且采用了较为先进的控制系统。消防机器人初步具有对环境的应变能力。
关键字 ： 灾害救援 ,机器人车体，消防车，多轴控制器，系统控制
Disaster relief and control system design of robot body
ABSTRACT
Happens every year, the global numerous disasters, both man-made disasters and natural disasters, causing tens of thousands of people lost their lives and countless wealth loss. In front of the disaster of human strength may be small, but mankind will continue the struggle with nature, especially after entering the 20th century, people in the disaster relief has invested a lot of energy and wealth, many product shows excellent performance in disaster relief. The developing trend of global disasters of the robot, people in such aspects as fire fighting robot and mine rescue robot into more interest.And this design is involved in fire rescue robot that regard. Imagine a robot can walk on fire, and the timely provision of on-site or close fire situation, or close to the implementation of aid or fire, it will greatly reduce or avoid casualties and to improve the efficiency of fire fighting. Fire robot research is growing attention.
The fire fight-robot consists of three parts, including design of the organization of running , the design of total pack and control system of bodywork, the design of the fire fight cooling system.This thesis is mainly about design of the bodywork ,total pack and the control system of the fire fight-robot , firstly,to design the outside size of the bodywork through concrete investigation and the reference of the same kind designs , then to choose a lot of standard function parts that and decide the concrete installing , thus make sure the concrete structure of the fire fight-robot, to choose the feeling machines of the work-body ,lastly, choice of the correspond control system and certain fire fight robot control calculate way of the basic function.
This thesis mainly includes following few aspects:
1. The function of the industry robot and the development of the fire fight-robot, basic function , basic composing and the problem of further research .
2. The design calculation of the bodywork and the choice of its function parts.
3. The choice of the feeling machine and the characteristics that it have on the fire fight robot.
4. The fire fight robot control system and its basic calculated way of controlling system.
5. To the characteristics of the fire fight robot, existent problem and the correspond resolvent method is elaborated .
The fire fight robot have more obstacles , avoid the obstacle ,probing and extinguishing fire; it has adopted the more advanced control system.The fire fight robot has the first time ability to reply to the environment.
Key words: Disaster relief; Robot body; Fire engines; Multi-axis controller； Control system.
目 录
第一章 引 言 - 8 -
1.1 工业机器人概述 - 8 -
1.2 消防机器人的发展简述 - 8 -
1.3 消防机器人要解决的问题 - 9 -
1.4 消防机器人的基本构成 - 10 -
1.5 消防机器人需要进一步研究的问题 - 13 -
1.6 方案设计 - 13 -
第二章 消防机器人的基本结构及设计计算 - 18 -
2.1 消防机器人的外廓尺寸的确定 - 18 -
2.2 驱动轮伺服电动机和伺服驱动器的选择 - 18 -
2.3 减速器的选用及传动锥齿轮的设计计算 - 23 -
2.3.1 减速器的选型 - 23 -
2.3.2 传动锥齿轮的设计 - 24 -..
Disaster relief and control system design of robot body
28300字 59页
我自己的毕业设计作品，确保原创，仅在本站独家提交，大家放心使用！
摘 要
每年，全球都会发生不计其数的灾难，不论是人为灾害还是自然灾害，都造成成千上万的人失去生命和难以计数的财富损失。在灾害面前人类的力量或许是微小的，但人类跟自然的斗争将继续下去，尤其是进入20世纪后人们在灾害救援方面投入了非常多的精力和财富，许多产品在灾害救援中展现了优秀的表现。就全球灾害救援机器人的发展趋势来看，人们在救火机器人和矿井救援机器人等方面表现了更多的兴趣。而本设计所涉及的就是救火救灾机器人这一方面。设想一种机器人能在火场中行走，及时提供现场或近距离的火场情况，或近距离实施援或灭火，那就会大大减少或避免人员的伤亡，并提高救火灭火效率。消防机器人的研究被人们越来越重视。
消防机器人由三个部分组成，分别是行走机构设计，车体设计总装及控制，消防冷却系统的设计。本论文主要是车体设计总装及系统控制，首先经过具体的调研和参考同类设计确定车体大概外廓尺寸，再选标准的功能部件和确定具体的安装，从而确定车的具体结构，选择车体传感器，最后选择相应的控制系统和确定消防机器人基本功能的控制算法。
本文具体内容主要包括以下几个方面：
1. 工业机器人的作用和消防机器人的发展，需要具备的基本功能和基本构成以及需要进一步研究的问题。
2. 车体的设计计算及其功能部件的选择。
3. 消防机器人上传感器的选择及其具有的特点。
4 消防机器人控制系统及其基本算法。
5 对消防机器人的特点，存在的问题及其相应的解决方法的阐述。
消防机器人具有越障，避障，探测和灭火的基本功能，且采用了较为先进的控制系统。消防机器人初步具有对环境的应变能力。
关键字 ： 灾害救援 ,机器人车体，消防车，多轴控制器，系统控制
Disaster relief and control system design of robot body
ABSTRACT
Happens every year, the global numerous disasters, both man-made disasters and natural disasters, causing tens of thousands of people lost their lives and countless wealth loss. In front of the disaster of human strength may be small, but mankind will continue the struggle with nature, especially after entering the 20th century, people in the disaster relief has invested a lot of energy and wealth, many product shows excellent performance in disaster relief. The developing trend of global disasters of the robot, people in such aspects as fire fighting robot and mine rescue robot into more interest.And this design is involved in fire rescue robot that regard. Imagine a robot can walk on fire, and the timely provision of on-site or close fire situation, or close to the implementation of aid or fire, it will greatly reduce or avoid casualties and to improve the efficiency of fire fighting. Fire robot research is growing attention.
The fire fight-robot consists of three parts, including design of the organization of running , the design of total pack and control system of bodywork, the design of the fire fight cooling system.This thesis is mainly about design of the bodywork ,total pack and the control system of the fire fight-robot , firstly,to design the outside size of the bodywork through concrete investigation and the reference of the same kind designs , then to choose a lot of standard function parts that and decide the concrete installing , thus make sure the concrete structure of the fire fight-robot, to choose the feeling machines of the work-body ,lastly, choice of the correspond control system and certain fire fight robot control calculate way of the basic function.
This thesis mainly includes following few aspects:
1. The function of the industry robot and the development of the fire fight-robot, basic function , basic composing and the problem of further research .
2. The design calculation of the bodywork and the choice of its function parts.
3. The choice of the feeling machine and the characteristics that it have on the fire fight robot.
4. The fire fight robot control system and its basic calculated way of controlling system.
5. To the characteristics of the fire fight robot, existent problem and the correspond resolvent method is elaborated .
The fire fight robot have more obstacles , avoid the obstacle ,probing and extinguishing fire; it has adopted the more advanced control system.The fire fight robot has the first time ability to reply to the environment.
Key words: Disaster relief; Robot body; Fire engines; Multi-axis controller； Control system.
目 录
第一章 引 言 - 8 -
1.1 工业机器人概述 - 8 -
1.2 消防机器人的发展简述 - 8 -
1.3 消防机器人要解决的问题 - 9 -
1.4 消防机器人的基本构成 - 10 -
1.5 消防机器人需要进一步研究的问题 - 13 -
1.6 方案设计 - 13 -
第二章 消防机器人的基本结构及设计计算 - 18 -
2.1 消防机器人的外廓尺寸的确定 - 18 -
2.2 驱动轮伺服电动机和伺服驱动器的选择 - 18 -
2.3 减速器的选用及传动锥齿轮的设计计算 - 23 -
2.3.1 减速器的选型 - 23 -
2.3.2 传动锥齿轮的设计 - 24 -..
