变电站安全检测移动机器人的结构设计与研究
发布时间：2018-07-18 16:40
【摘要】：机器人技术是现代科学技术综合发展的一个标志,机器人的出现,使得人从一些重复性的工作中解脱出来,也使得生产效率和产品质量得到很大提高,尤其是近年来发展迅速的移动机器人能在更多样的环境下完成各种复杂或危险的任务。移动机器人中的轮式机器人由于其运动灵活,控制方便的特点更是机器人研究的一个重点。作为机电产品的一个典型代表,机器人的结构设计依托于现代计算机技术,在现代设计思想指导下,需要运用更高效、更优化的设计手段来实现。本论文基于实际项目需求,为实现变电站实时电晕检测完成了一种轮式移动机器人的设计与相关仿真分析。轮式移动探测机器人的结构分为底部移动车体和上部操作机械手两大模块。移动车体采用两个驱动轮独立驱动、带传动减速方式带动机器人整体移动;操作机械手采用蜗杆传动和螺旋传动的机构设计实现了水平旋转、直线升降和俯仰三种运动,保证机械手端部探测仪灵活的到达各个位置。在本论文的设计与分析研究过程中,在传统机械设计理论基础上,深入应用了现代计算机辅助设计技术(CAD)和计算机辅助分析技术(CAE),发挥了现代设计手段的高效性。在本文中,以现代设计思想为指导,分模块化组合设计,完成了整体到局部的设计方案;在方案指导下,细化设计,基于Pro/Engineer建立了三维模型,对关键零件应用了参数化建模的手段提高了建模的效率和准确性;在零件模型建立基础上,基于Pro/Assembly运用分级装配的思想,对建立的零件进行了高度贴合实际产品组装过程的虚拟装配;之后基于Pro/mechanism模块,对关键传动部件和机械手的末端运动轨迹进行了运动仿真,验证了设计方案的合理性和建模的准确性;最后基于ANSYS,对关键结构的强度和刚度进行了静力学仿真分析,利用分析结果验证结构设计的合理性,并依据分析结果对结构进行优化改进,确保了设计的结构安全可靠。本论文最终得到了移动探测机器人结构设计的模型和具体参数,实现了预期的设计目标。在设计过程中对现代设计思想和现代机械设计手段的综合应用和提出的设计观点,以及本产品设计中的特色结构,对一般机械产品的设计具有一定的参考价值。
[Abstract]:Robot technology is a symbol of the comprehensive development of modern science and technology, the emergence of robots, people from some repetitive work, but also make production efficiency and product quality has been greatly improved. Especially in recent years, mobile robots with rapid development can accomplish complex or dangerous tasks in more diverse environments. The wheeled robot in mobile robot is an important part of robot research because of its flexible motion and convenient control. As a typical representative of mechanical and electrical products, the structure design of robot relies on modern computer technology. Under the guidance of modern design idea, it needs to use more efficient and optimized design methods to realize it. In this paper, a wheeled mobile robot is designed and analyzed in order to realize the real time corona detection of substation based on the actual project requirements. The structure of wheeled mobile detection robot is divided into two modules: bottom moving carbody and upper manipulator. The moving car body is driven independently by two driving wheels, and the robot moves as a whole by the way of transmission and deceleration, while the manipulator adopts the mechanism of worm drive and helical transmission to realize three kinds of motions: horizontal rotation, straight line lifting and pitching. Ensure that the manipulator end detector reaches each position flexibly. In the course of the design and analysis of this paper, based on the traditional mechanical design theory, the modern computer aided design (CAD) and the computer aided analysis (CAE) are deeply applied, which brings into play the high efficiency of the modern design method. In this paper, under the guidance of modern design idea and modular combinatorial design, the overall to local design scheme is completed, under the guidance of the scheme, the design is refined, and the three-dimensional model is established based on Pro-Engineer. Parametric modeling is applied to key parts to improve the efficiency and accuracy of modeling. The virtual assembly of the parts is highly suited to the actual product assembly process, and then based on the Pro-mechanism module, the kinematic simulation of the key transmission parts and the end motion trajectory of the manipulator is carried out. The rationality of the design scheme and the accuracy of the modeling are verified. Finally, based on ANSYS, the strength and stiffness of the key structure are analyzed by static simulation, and the rationality of the structure design is verified by the analysis results. According to the analysis results, the structure is optimized and improved to ensure the safety and reliability of the design. In this paper, the structure design model and parameters of mobile detection robot are obtained, and the expected design objectives are achieved. In the process of design, the comprehensive application of modern design thought and modern mechanical design means and the design viewpoint put forward, as well as the characteristic structure of this product design, have certain reference value to the general mechanical product design.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM63;TP242
本文编号：2132515
[Abstract]:Robot technology is a symbol of the comprehensive development of modern science and technology, the emergence of robots, people from some repetitive work, but also make production efficiency and product quality has been greatly improved. Especially in recent years, mobile robots with rapid development can accomplish complex or dangerous tasks in more diverse environments. The wheeled robot in mobile robot is an important part of robot research because of its flexible motion and convenient control. As a typical representative of mechanical and electrical products, the structure design of robot relies on modern computer technology. Under the guidance of modern design idea, it needs to use more efficient and optimized design methods to realize it. In this paper, a wheeled mobile robot is designed and analyzed in order to realize the real time corona detection of substation based on the actual project requirements. The structure of wheeled mobile detection robot is divided into two modules: bottom moving carbody and upper manipulator. The moving car body is driven independently by two driving wheels, and the robot moves as a whole by the way of transmission and deceleration, while the manipulator adopts the mechanism of worm drive and helical transmission to realize three kinds of motions: horizontal rotation, straight line lifting and pitching. Ensure that the manipulator end detector reaches each position flexibly. In the course of the design and analysis of this paper, based on the traditional mechanical design theory, the modern computer aided design (CAD) and the computer aided analysis (CAE) are deeply applied, which brings into play the high efficiency of the modern design method. In this paper, under the guidance of modern design idea and modular combinatorial design, the overall to local design scheme is completed, under the guidance of the scheme, the design is refined, and the three-dimensional model is established based on Pro-Engineer. Parametric modeling is applied to key parts to improve the efficiency and accuracy of modeling. The virtual assembly of the parts is highly suited to the actual product assembly process, and then based on the Pro-mechanism module, the kinematic simulation of the key transmission parts and the end motion trajectory of the manipulator is carried out. The rationality of the design scheme and the accuracy of the modeling are verified. Finally, based on ANSYS, the strength and stiffness of the key structure are analyzed by static simulation, and the rationality of the structure design is verified by the analysis results. According to the analysis results, the structure is optimized and improved to ensure the safety and reliability of the design. In this paper, the structure design model and parameters of mobile detection robot are obtained, and the expected design objectives are achieved. In the process of design, the comprehensive application of modern design thought and modern mechanical design means and the design viewpoint put forward, as well as the characteristic structure of this product design, have certain reference value to the general mechanical product design.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM63;TP242
【参考文献】
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