毕业设计论文--机器人

煤矿救援机器人是一种能够在煤矿井下灾害环境遥控或自主导航工作的机器人，能代替煤矿的搜救队员深入井下，抢救矿难后被困矿工，并以这种方式减少甚至避免救护队员的伤亡。同时在煤矿爆炸事故后的探测救援过程中，救护人员在井下高温环境下负重作业，其体力以及氧气消耗都很大。救援机器人主要作用是代替救护人员搬运、转移伤员和遇难者至安全区域，而且救援机器人需要携带必要的救护设备和仪器，因此救援机器人应该具有足够大的尺寸和动力以及良好的续航能力。

首先，本文在满足上述要求的基础上，设计了煤矿救援机器人行走机构的机械部分。在综合比较后选择轮式的行走机构。同时考虑到救援机器人的特殊工作环境，通过链传动实现了各轮的同步移动，克服了轮式移动机构跨沟能力差及易打滑等缺点。参照PACKBOT机器人增加摆臂，机器人伸出摆臂有利于越障。

其次，详细设计了煤矿救灾机器人控制系统的硬件电路，包括数据采集单元电路、运动控制单元电路、编码器解析单元电路等。

关键字：轮式；同步移动；摆臂；数据采集；运动控制

Coal mine rescue robot is one kind of robots used in underground destroyed coal mine. It can rescue trapped miners in the underground instead of mine rescue team after mine disaster. It will avoid casualties of mine rescue team in this way. At the same time after the explosion and the rescue process of detection in the coal mine, mine rescue team in underground load operation under high temperature environment, and their physical as well as consumption of oxygen is huge. A major role in the coal mine rescue robot is to replace the mine rescue team to transport, and transfer the wounded and the victims to a safe area. Rescue robots had to carry the necessary equipment and apparatus, so the rescue robot should have sufficient size and power and good endurance capacity.

First of all, on the basis of these requirements, I designed the mechanical parts of the coal rescue robot. In comparison, I choose the wheel body. At the same time, I take the special working environment for the coal mine rescue robot into account, so I try to achieve all-round mobile synchronization through the chain drive. And it can overcome the shortcomings of Wheeled Mobile institutions such as the cross-channel capabilities and easy to spin. In refer to PACKBOT robot, I design the arm for the robot, so it can across the barriers more easily.

Secondly, hardware circuit of robot control system is designed in detail, such as data acquisition unit circuit, motion control unit circuit; encoder analyzing unit circuit and so on.

Keyword：Wheeled；Sync mobile；Arm；Data Acquisition；Motion Control

目录

1绪论 (1)

1.1 引言 (1)

1.2 设计背景、意义 (1)

1.2.1设计的背景和意义 (1)

1.3 设计基础 (3)

1.4 国内外研究与应用现状 (4)

1.5 本章小结 (5)

2行走机构方案确定 (6)

2.1 煤矿灾害现场特征 (6)

2.2 矿井灾害的非结构环境特征 (7)

2.3 行走机构方案选择与确定 (7)

2.3.1轮式机器人 (7)

2.3.2 履带式机器人 (8)

2.3.3 腿式机器人 (9)

2.3.4 其它形式机器人 (9)

2.4 行走方案的确定 (11)

2.5 本章小结 (11)

3机器人行走机构的机械设计 (13)

3.1 机器人行走机构总体方案 (13)

3.1.1 主传动系统设计 (14)

3.1.2 摆臂方案设计 (14)

3.2 机器人行走机构具体设计 (15)

3.2.1 主传动系统的具体设计 (15)

3.2.2 摆臂方案的具体设计 (38)

3.3 本章小结 (42)

4 电气系统的分析与设计 (43)

4.1 数据采集单元电路 (43)