机械工程毕业设计,乒乓球收集小车的设计,乒乓球收集器.docx

北京交通大学毕业设计（论文） 中文摘要中文摘要摘要：国外服务型机器人近年来不断创新，在机电一体化、高精度化、高速化等方面均有重大突破。国内服务型机器人通过不断引进国外先进技术，也取得不小进步，但在体育运动方面的服务型机器人发展和研究仍存在问题。本论文基于对现有移动机器人的研究及现代机械设计理论和手段，以提高乒乓球运动练习的效率、缩短在练习乒乓球时捡球的时间、满足市场需求为目标，进行乒乓球收集小车的设计，使其具有自动寻路、收集、传送等功能。论文所完成的主要工作如下。首先对乒乓球收集小车进行了总体方案设计，根据功能分析的结果将其分为收集模块、传送模块、行走与控制模块等功能模块，并对个功能模块进行了方案的设计和选择。然后，基于以上确定的方案，分别对各机构进行了详细的设计，包括尺寸设计和结构设计，绘制了相关的零件图和总装配图，并进行了标准件的选择及计算。本乒乓球收集小车前端采用滚筒配合挡板的结构，由直流电机驱动，将乒乓球收入机器内，然后通过传送通道传送到传送机构的入口，传送机构将乒乓球传送到收集盒中，收集盒可手动取出。关键词：乒乓球收集小车；收集；传送；自动行走9北京交通大学毕业设计（论文） 英文摘要ABSTRACTABSTRACT: In recent years，the innovation of service robots has been made consistently and major breakthroughs have been obtained in the mechanical and electrical integration, high-precision, high-speed and other aspects. In the mean while，great progress have been made in service robots through the introduction of foreign advanced technology. However there are still some problems need to be considered in developing and studying of service robots in sports field.In this thesis, ,a kind of table tennis collection machine/ car with automatic searching, gathering, transmission functions was designed to satisfy the market demands based on an existing mobile robot research and modern mechanical design theory. The main work of this thesis is as followings:Firstly, the overall scheme of the mechanical system of the table tennis collection car was put forward. According to the results of function analysis, the system was divided into following modules: gatheringmodules, transmit modules, biped and control modules etc. Schemes for each function module were proposed and selected.Then, based on the above selected scheme, each module was designed in details, including the dimension design and structural design. The part drawings, component drawings and the assembly drawings of the table tennis collection machine were carried out. The table tennis collection machine was driven by baffle DC motor. The tennis balls were collected into the internal revenue of the machine from its front-end drum, then to catcher mouth by belt conveyor mechanism through the transmission channel, and at last to the collection box. The collection box can be taken out from the machine manually.KEYWORDS： Table Tennis Collection Car；Collect；Convey；Automatic Movement北京交通大学毕业设计（论文） 目录目 录中文摘要IABSTRACTII目 录III1绪论11.1研究背景11.2研究现状11.2.1国内研究现状21.2.2国外研究现状41.3研究内容与设计指标61.4论文的章节安排71.5本章小结82乒乓球收集小车的方案设计92.1乒乓球收集小车的功能原理设计92.1.1技术要求92.1.2功能分析92.1.3功能分解和工作原理分析102.2乒乓球收集小车执行机构选型112.2.1行走机构的选型112.2.2收集机构的选型152.2.3传送机构的选型172.2.4执行机构的选型总结212.3原动机与传动系统方案设计212.3.1车轮的选择212.3.2行走机构驱动电动机及减速器的选择222.3.3收集与传送机构驱动电机的选择232.3.4电源的选择242.4ABS塑料的分析242.5本章小结263收集模块的设计273.1收集机构的设计273.1.1轴的结构设计273.1.2轴的强度校核293.1.3轴承的校核303.1.4键的选择和校核323.1.5收球滚筒的设计333.1.6轴承座的设计333.2传动系统的设计343.3收集模块总体造型363.4本章小结364传送模块的设计374.1传送机构的设计374.1.1主动轴的结构设计374.1.2主动轴的强度校核394.1.3从动轴的结构设计414.1.4轴承的校核424.1.5键的选择和校核444.1.6传送带的选择454.1.7轴承座的设计464.1.8传送机构挡板组的设计474.2传送通道和固定支架的设计494.2.1传送通道的设计494.2.2固定支架的设计504.3传动系统的设计514.4传送模块总体造型514.5本章小结525行走与控制模块535.1全区域覆盖路径规划算法535.1.1全覆盖路径规划的数学描述535.1.2全覆盖路径规划的评价指标545.2控制系统的设计545.2.1系统总体设计545.2.2硬件设计555.3本章小结576整机外形框架的设计586.1底盘的设计586.2外框的设计596.3车盖的设计616.4收集盒的设计626.5总体装配三位效果图646.6非技术因素的考虑666.7本章小结677结论68参考文献69致 谢70附 录711 绪论随着机器人技术的发展,小型地面移动机器人在家庭生活、排爆、消防、儿童玩具、科技创新比赛等领域应用越来越广泛, 移动机器人在工业领域的应用已经很多,但要想进入家庭,成本就成了重要因素,其中既包括材料成本,也包括研发与制造成本。人们对机器人技术自动化