摄影机器人底座小车.doc

摄影机器人第一关节设计机自072209H陈月东 李明哲摘要机器人学是一门边缘学科，它涉及电子精密机械、空间机构学、操纵动力学、人机工程学等的一门系统工程。我们在此基础上，着重设计摄影机器人第一关节的驱动系统。设计在原有功能要求上力求稳定。首先进行传动系统的设计。该传动系统极大的满足了空间狭小，传动比较大的工作要求，并且，在此基础上对齿轮硬度，电机温度上对整个传动系统进行了检验，使其满足日常工作需要。另外，在车轮的设计上，独到的提出了一种创新式车轮，使机器在高速行驶的时候能够保证稳定，快速。最后，在和其他小组沟通的基础上，设计了一种结构紧凑又提供了足够空间的框架支撑。关键词：驱动系统，系统检验，创新车轮，框架支撑AbstractRobotics is an interdisciplinary subject, which involves electronic precision machinery, spatial mechanism, handling dynamics, ergonomics, etc. a system engineering.On this basis, we, focus on design of the first joint photo robot drive system.Designed to stabilize the original functional requirements.First, the drive system.The transmission system to meet the great room is small, the larger the drive the job requirements, and, on this basis, the hardness of the gears, motor temperature on the transmission system was tested, to meet the daily operational needs.In addition, the wheel design, unique innovative proposed a wheel, so that when the machine at high speeds to ensure stable and fast.Finally, communicate with other groups, based on the design of a compact structure and provide adequate space frame support.Keywords: Drive system, system test，Innovative wheel，frame support第一章 拟定分析传动方案一，设计要求1 工作条件（1）工作环境为室外工作；（2）该传动机构进行双向，连续的运转；（3）工作载荷平稳；（4）单班制工作，工作期限为十年，检修间隔期，三年进行一次大修。 2.已知参数（1）车轮转速n=0-10M/S；（2）承重1000KG3 .设计工作量（1）画出装配图一张（A0或A1）；（2）零件工作图1-3张；（3）设计说明书一份。二传动方案的分析 一般的机械传动有带传动，齿轮传动，链传动和蜗杆蜗轮传动。带传动的传动载荷小，传动效率低，外廓尺寸较大，并且因为弹性滑动的原因，传动比不恒定。但是，它具有良好的缓冲吸振的作用，所以将其与电动机高速极相连，吸收振动，减小转矩，减小带传动的轮廓尺寸。蜗杆蜗轮传动具有传动比大，工作平稳，噪音小，结构紧凑的优点。但是，它的传动效率较低。为了减磨耐磨，蜗轮的齿圈常常用青铜制造，导致成本较高。考虑到本设计中的车轮速度较小，导致传动比比较大，为了减小轮廓尺寸，使结构紧凑，所以选择使用蜗杆蜗轮传动。第二章 运动学和动力学的计算1 工作机所需要的功率电动机所需功率为Pd=Pw/a KW 因为 Pw=Fv/1000KW V=w r=w D/2所以 Pd= Fv/1000a KW=FwD/2000a其中，由电动机 至 运动带 传动总效率为a = 12345查表1-7初选 联轴器 效率 1= 0.99V带传动效率 2= 0.96两对滚动轴承效率 3= 0.990.98蜗杆蜗轮的传动效率 4= 0.82车轮效率 5=0.96 则a=0.990.960.990.980.820.96=0.73Pd= Fv/1000a KW=10.9kW2 确定电动机的额定功率Ped 因为 PedPd 所以查表得:Ped=11kw 即 选择额定功率为11kw的电动机。3.确定传动机构的总传动比ia ia= i1 i2其中，i1为V带传动的传动比，i1的常用范围24，最大值为7；i2为蜗杆蜗轮传动的传动比,i2的常用范围1040，最大值为80； 所以，ia的范围是20160，电动机的转速nd=ia n=30（20160）=6004800 r/min为了降低传动比，提高蜗杆传动效率，所以选择同步转速为1000r/min 的电动机 ，即Y160L-6 Y160l-6参数如下:型号额定功率 KW同步转速 r/min堵转转矩额定转矩最大转矩额定转矩Y160L-611100022中心高外形尺寸地脚尺寸螺孔直径轴伸尺寸装键部位HL*(AC+AD)*HDA*BKD*EF*G160645*(325*255)*385254*2541542*11012*37二确定运动装置中的动力和运动参数1 分配各级的传动比 ia=nd/nw=970/30=32.3初取 蜗杆蜗轮传动比i2=15则带传动比i1 = ia/ i2=32.3/15=2.16 2 确定各轴的转速 no=nd=970r/min; n1=n0/i1=970/2.16 r/min=449.07r/min; n2=n1/i2=449.07/15 r/min=29.94r/min; n3=n2=29.94r/min传动误差=（30-29.94）/30=0.0005 在5%的范围之内。3 确定各轴的功率和转矩 (1) P0=Pd=8.9kwP1=P00.96=8.90.96=8.63kwP2= P10.820.990.98=8.630.820.990.98=6.87kwP3= P20.96=6.870.96=6.59kw(2)电动机轴输出扭矩：Td=9550Pd/n0= 95508.9/970Nm=84.97Nm轴输入扭矩:Nm轴输入扭矩: NmIII轴输入扭矩:Nm运动和动力参数电动机轴轴I轴II轴III转速n/r/min970449.0729.9429.94输入功率P/ kw8.98.636.876.59输入转矩T/Nm84.9183.152191.332102.02传动比i2.12151效0.960.8910.95第三章 传动零件的设计一，带传动设计1确定计算功率Pc 由已知条件，单班制工作，查表13-6得KA=1.0所以 Pc=KAPd=1.08.9=8.9kw2选择V带型号 根据Pc=8.9kw n1=970r/min.由V带选型图得，坐标点位于B型V带区域，所以选择B型V带。3 确定大小带轮基准直径d1,d2 由表13-7 ，初选d1=125 mm，则 D2=d1i1(1-)=125(2.16-0.02)=267.5mm 由表13-7 得D2=265mmI实际=265/125=2.12传动比误差在5%之内，所以允许。4验算带速vV=d1n1/(601000)= 970125/601000=6.35 m/s带速在525m/s范围内，所以合适。5计算中心距a和基准带长Ld初步选择因为 0.7（d1+d2）a02(d1+d2) 即 273mma0780mm取 a0=580mm则L0=2a0+(d1+d2)/2+(d2-d1)=2580+390/2+/4580=1160+612.3+8.4=1780.7mm 就近取Ld=1800mm 由公式aa0+(Ld-L0)/2=580+(1800-1780.7)/2=590mm6验算小带轮包角=180-（d2-d1）/a57.3=180-（250-125）/60257.3=167.1120,适合。7 求窄V带的根数z由传动比i=2.02 查表13-4 由线性差值法 得 kw P0=1.67kw由Ld=1800mm查表13-2得 ; =167.1查表13-5 得 代入数据得： Z=9.41/(1.67+0.30)0.960.95=4.29（根）所以 取z=5（根）8 确定带的初拉力F和作用在轮轴上的压力F 取q=0.2kg/m=5009.41/(56.35) (2.5/0.96-1)+0.26.35=236.43N作用在轴上的压力F=25236.43sin163.2/2=683N9 带轮结构设计（1）小带轮的尺寸小带轮的基准直径为125mm，参照电动机的参数，可知中心高H=160mm，轴伸长度是4620mm,轴径是42mm,所以，小带轮的轴孔直径应为42mm,轮毂长不大于 3d(d代表轴的直径),采用实心式结构（2）大带轮的尺寸，大带轮的基准直径是265mm300mm,采用腹板式结构，轮毂宽B=(1.52)d=52.570mm,取B=60mm.三蜗杆蜗轮传动设计1选择蜗杆传动类型 根据GB/T10085-1988的推存，采用渐开线蜗杆（ZI）。 .2选择材料 蜗杆：考虑到蜗杆传动传递的功率较大，速度只是中等，故蜗杆用45钢；因希望效率高些，耐磨性好些，故蜗杆螺旋齿面要求淬火，硬度为4555HRC。 蜗轮 考虑到速度较小，载荷较大，所以 蜗轮材料选择10-3铝青铜。它有足够的强度，铸造性功能好，耐冲击，价廉。估测vs=2m/s所以，由表12-5 得3按齿面接触疲劳强度设计蜗轮轮齿所限定的承载能力，大都超过齿面点蚀和热平衡计算所限定的承载能力。只有在少数情况下，例如：再受强烈冲击的传动中，或蜗轮采用脆性材料时，计算其弯曲强度才有意义。根据闭式蜗杆传动的设计准则，先按齿面接触疲劳强度进行设计，再校核齿根弯曲疲劳强度。（1） 选择头数z1，并估测传动效率由i=15，查表12-5，选取z1=2,z2=215=30估计传动效率 =0.82（2）.确定作用在涡轮上的转距 n2 =29.94r/minT=2191.33N/m （3）.确定使用系数K 综合弹性系数Z 因工作载荷较稳定，无冲击载荷，转速较低故取确定使用系数K=1.1因用铝青铜蜗轮和钢蜗杆相配，故取Z=160 （4）确定接触系数Z 假设蜗杆分度圆直径和传动中心距a的比值为0.45，由12-11图可查得Z=2.4。 （5）.确定许用接触应力 根据蜗轮材料为铝青铜，金属模铸造，蜗杆螺旋齿面硬度45HRC,估测滑动速度 为2m/s可从表12-4中查得蜗轮的基本许用应力210MPa。 （6）计算中心距a取a=190mm（7） 确定模数m，蜗轮齿数z2，蜗杆直径系数q，蜗杆导程角，中 心距a d1= 由表12-1，初选m=8, d1=80mm, a=0.5(d1+d2)=0.5(80+240)=160mm另取 m=10,d1=90mm,q=9.000 a=0.5(d1+d2)=195190mm 所以适合。 (8)确定几何尺寸蜗杆 轴向齿距pa=zm=102=20mm直径系数q=d1/m=90/2=45齿顶圆直径da1=d1+2m=90+20=110mm 齿根圆直径df1= 导程角12.6 蜗杆轴向齿厚Sa=0.5m=5mm 蜗轮 蜗轮齿数=30分度圆直径d2=mz2=1030=300mm 齿顶圆直径da1=d2+2m=300+210=320mm齿根圆直径df2=d2-2.4m=300-2.410=276mm 蜗杆的轴向齿距，蜗轮的端面齿距径向间距 c=0.20m=0.2010=2.0mm蜗轮宽度B 取B=60mm（9）计算滑动速度v与估测速度相近4蜗杆蜗轮的热平衡1. 计算蜗杆蜗轮传动的总功率。其中，当量摩擦角 ，由表12-6得当量摩擦系数=0.0385 2. 蜗杆传动的热平衡计算由经验公式估算散热面积86.270所以，需要增加散热片来降低箱体温度。 单片散热片的面积 其中，a 是散热片的厚度，a= H是散热片的高度，H= L是散热片的长度，取L=150mm所以，所需的散热面积s= 所以需要十四片散热片。第4章 轴的设计和键的设计1一轴的设计（1）、轴上的功率、转矩、转速 由上计算得， PI= 8.9kW nI= 449.07 r/min（2）初步确定最小直径 选择轴的材料为45钢，调质处理根据表14-2取C=110，于是：考虑轴端有键槽，将上述轴径增大10%，即29.91.10=32.89 mm,根据标准直径系列取d=35mm （3）确定各轴段直径 轴段a（外伸端）直径最小，要对带轮定位，轴段上设计轴肩,则d1=35mm, d2=d1+20.135mm=42mm 因为要安装密封的毛毡圈，所以取d2=45mmd3要与轴承孔相配合，初选轴承30310所以d3=50mm D5与涡轮的轮齿部分相接， 所以取d5=58mm,d4=0.08d42+d4 =4.62+58=67.2m 所以取d4=68mm d4=d3+0.12d3=1.1450=57mm 取d4=60mm d6=d3=50mm d7=d4=68mm d8=d3=50mm(4）确定各段长度 初选轴承30310带轮的轮毂宽为60mm，L1=61mm L21+e+(510)+L0其中，L0为箱体轴承端盖外部零件处与带轮之间的距离，为1520mm 取L0=17mm e是轴承端盖的厚度e=1.2d3 d3是螺钉的直径10mm e=12mm =11mm 又根据涡轮到箱内轴承凸台的距离，确定 L2=65mmL3=30mm（轴承宽度为29.25mm） L4=4mm在保证蜗轮与箱体内壁保持距离20mm以上的前提下 取L5=60mm 蜗轮的有齿部分估计所以取b1=160mmL6= L5=60mm L7=L4=4mm L8=L3=30mm蜗杆的受力计算 分度圆直径d=90mm 转矩T=183150 N.mm 圆周力Ft=2T1/d1=2183150/90=3.4KN 径向力Fr=Fa1tan20=12.5tan20=4.5KN 轴向力Fa=2T2/d2=22338060/375=12.5KN(2)求水平面H和沿垂平面V的支座反力水平面H内的支座反力 FH1=FH2=Ft/2 =1.7KN水平面H的弯矩 MHa=LFH1=1601.7Nm=272Nm 沿垂平面V内的支座反力 Fr 垂直面V的弯矩计算 求外力F在支架上产生的支反力 F在截面a-a上产生的弯矩 (3)求合成弯矩MaMa1=Ma2=(4)计算扭矩TT=Ft(5)求危险截面的当量弯矩Me 由图可见。截面a-a是危险截面所以，轴1是安全的。2蜗轮轴的结构设计(1）轴上的功率、转矩、转速 由上计算得， P2= 6.87kW n2= 29.94r/min（2）初步确定最小直径 选择轴的材料为40Cr，调质处理根据表14-2取C=100，于是：考虑轴端有键槽，将上述轴径增大5%，即61.221.05=64 mm,根据联轴器标准直径系列取d=65mm （3）确定各轴段直径 轴段a（外伸端）直径最小，要与联轴器相连,则d1=65mm,d2起定位作用， d2=d1+0.14d1=651.14=74.1mm 取d2=75mmD3要与轴承孔相配合，初选轴承7016CD3=80mm D4=d3+5=85mm D5=d4+0.072d4=1.1485=96mm 取d5=96mmD6=d3=80mm (4）确定各段长度与联轴器配合的长度L1=142mmL21+C1+C2+(510)+L0其中，L0为箱体外壁与联轴器之间的距离，为1520mmL2=10+20+22+15+8=75mmL3=B+其中，B是轴承的宽度，是蜗轮断面到箱体内壁的距离，要大于壁厚13mm是轴承座到轴承端面的距离，1015mmL4用于支撑蜗轮，长度应略小于蜗轮的厚度100mm，所以L4=98mmL5用于固定蜗轮，L5=1.4h=1.45.5=7.7mm, 取L5=8mm L6=15+12+22 =49mm3蜗轮轴的受力计算及校核 1蜗轮的受力计算 分度圆直径d=300mm 转矩T=2191.33 N.m 2求水平面H和沿垂平面V的支座反力 水平面H内的支座反力 水平面H的弯矩 MHa=LFH1=966.25Nm=525Nm 3沿垂平面V内的支座反力 Fr 4垂直面V的弯矩计算 5求合成弯矩MaMa3=Ma2=6计算扭矩TT求危险截面的当量弯矩Me 由图可见。截面a-a是危险截面所以，轴2是安全的。二键的设计键的选择与校核选用C型普通平键连接蜗杆和带轮，蜗轮轴与联轴器。选用A型普通平键连接蜗轮与涡轮轴，实现周向固定。1）轴与带轮采用C型平键连接此段 键长应略短于轮毂宽60mm，根据L的系列数，取L=56mm2）II轴与蜗轮采用A型平键连接此段3）电动机轴与小带轮采用C型平键连接有电动机的外伸轴的键槽尺寸和轴径，选用此段第5章 轴承的设计1 计算蜗杆轴轴承已知轴承的转速为n1=449.07r/min 初选圆锥滚子轴承30310D=110mm d=50mm T=29.25mm 轴承安装及受力情况如图所示第6章 联轴器的选择（1）类型选择 由于两轴相对位移很小，运转平稳，且结构简单，对缓冲要求不高，故选用弹性柱销联轴器。 （2）载荷计算计算转矩TC=KAT=1.32191.33=3039.5Nm，其中KA为工况系数，由课本表17-1得KA=1.3（3）型号选择根据TC，轴径d，轴的转速n， 查标准GB/T 58432003，选LX5弹性柱销联轴器，其额定转矩T=3150Nm, 许用转速n=3450r/min ,故符合要求。第七章润滑及密封设计1.密封 由于选用的电动机为低速，常温，常压的电动机则可以选用毛毡密封。毛毡密封是在壳体圈内填以毛毡圈以堵塞泄漏间隙，达到密封的目的。毛毡具有天然弹性，呈松孔海绵状，可储存润滑油和遮挡灰尘。轴旋转时，毛毡又可以将润滑油自行刮下反复自行润滑。2润滑(1) 蜗杆的润滑 虽然本蜗杆的滑动速度小于5m/s，故采用油池润滑，下置蜗杆不宜浸油过深。.参照文献1表11-20选择润滑剂为L-AN (2) 滚动轴承的润滑 下置式蜗杆的轴承，由于轴承位置较低，可以利用箱内油池中的润滑油直接浸浴轴承进行润滑，即滚动轴承采用油浴润滑 对于蜗轮滚动轴承来说，由于传动件的速度不高，且难以经常供油，所以选用润滑脂润滑。这样不仅密封简单，不宜流失，同时也能形成将滑动表面完全分开的一层薄膜。第八章参考文献1、吴宗泽主编 机械设计课程设计手册 2版 -北京：高等教育出版社，1999（2003重印）2孙志德 张伟华 邓子龙 主编 机械设计基础课程设计-2版-北京：科学出版社出版，20103.杨可桢 程光蕴 李仲生 主编 机械设计基础5版-北京：高等教育出版社出版，2009致 谢 本课题在选题及进行过程中得到宋建军老师的悉心指导。论文行文过程中，宋老师多次帮助我分析思路，开拓视角，在我遇到困难想放弃的时候给予我最大的支持和鼓励。宋老师严谨求实的治学态度，踏实坚韧的工作精神，将使我终生受益。在此，谨向宋老师致以诚挚的谢意和崇高的敬意。 感谢大学四年来，机械系所有老师对我学习上的帮助和生活上的关怀，正是您们的辛勤工作，才使我得以顺利地完成学业，取得学位。浓浓师恩，终生不忘。 感谢我的室友们，我们一起经历过的聚散喜悲，一起走过的每一段路，我一生都不会忘记。友情的无私为我们的大学时光重重地写下了无悔。 附录外文文献RobotsFirst, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the countrys economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the worlds understanding and transformation of this technology as well as people in the development process of an objective need. Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide. Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation. So far, the industrial robot is the most mature and widely used category of a robot, now the worlds total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small. Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly. Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot. It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement. So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom. We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom. Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc. These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference. It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc. Its surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robots one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming. The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up. This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas. If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited. Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside. a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate. This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery. This robot has in the area, caused a great sensation, but also, AESOPs surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery