機電畢業(yè)設(shè)計參考模板(已修改)
2024-12-19 20:43 本頁面
【正文】 山東科技大學(xué)學(xué)士學(xué)位論文 I 摘 要 本畢業(yè)設(shè)計的課題來源于 “ 2021 年大學(xué)生過程裝備實踐與創(chuàng)新大賽 ”的參賽參考題目，主要任務(wù)是設(shè)計在役鋼制壓力容器外壁面檢測用爬壁機器人的本體結(jié)構(gòu)及其控制系統(tǒng)。 本文在詳述國內(nèi)外爬壁機器人研究現(xiàn)狀的基礎(chǔ)上，對履帶式爬壁機器人的本體結(jié)構(gòu)進行了設(shè)計，對一些關(guān)鍵部分進行了設(shè)計計算。重點是爬壁機器人的移動機構(gòu)、吸附機構(gòu)和驅(qū)動系統(tǒng)的設(shè)計及校核。 本文設(shè)計的壓力容器檢測爬壁機器人采用履帶式移動機構(gòu)，雙履帶構(gòu)成爬壁機器人的基本框架；采用永磁吸附方式，將永磁片貼在履帶的外表面，可提供足夠大的吸附力，結(jié)構(gòu)簡單；采用前輪 驅(qū)動，兩個驅(qū)動輪分別由電機驅(qū)動，當(dāng)兩電動機轉(zhuǎn)速一致時，機器人沿直線行走，當(dāng)兩電動機差速時，可實現(xiàn)爬壁機器人整體轉(zhuǎn)彎。 本文對爬壁機器人的吸附機構(gòu)，移動機構(gòu)等進行了設(shè)計計算，特別是對轉(zhuǎn)彎阻力矩進行了分析計算。經(jīng)過校核，在一定條件下，該爬壁機器人能夠完成對壓力容器壁面的巡檢。 關(guān)鍵詞： 爬壁機器人；本體結(jié)構(gòu)；移動機構(gòu)；吸附機構(gòu) 山東科技大學(xué)學(xué)士學(xué)位論文 II Abstract The task of the graduation design es from “ The practice and innovation contest about process equipment of undergraduate in 2021” . The main task is the design of the main structure and control system of the climbing robot for checking the surface of the servicing steeliness pressure vessel. In the base of summarizing the study status on the climbing robot inside and outside, the main structure of the climbing robot with pedrails is designed, and the designing calculations of key partments are carried on.. Especially, the designing and proofreading of moving mechanical， the absorbing mechanical of the pedrails and the driving system are designed and checked. The pedrails moving system are chosen as the moving mechanical of the climbing robot for pressure vessel. This system buildup the basis frame class of the robot. Mag, which can offer adsorbability enough to keep the robot working on the vertical walls, is kept close to the outside surface of the pedrails. Frontwheel driving is adopted as the driving system and the two frontwheel are drived by two elctromotors, respectively. When the two motors are running with the same direction, the robot walks straightly. When the two motors are running with the contrary velocity, the robot can swerve. In the paper, the absorbing mechanical and the moving anization are designed and calculated, especially for the swerve resistance moment. After calculation and checking, the robot can work normally and detect the surfaces with welding lines if there is no unexpected condition. Keywords: Climbing robot； Main structure； Walking mechannical； Adsorbing mechannical 山東科技大學(xué)學(xué)士學(xué)位論文 III 目 錄 摘 要 ................................................................................................. I Abstract ...........................................................................................II 1 緒 論 .......................................................................................1 國內(nèi)外爬壁機器人的研究現(xiàn)狀 ............................................................... 1 國內(nèi)外爬壁機器人的研究現(xiàn)狀概述 ............................................. 1 爬壁機器人移動機構(gòu)的研究現(xiàn)狀 ....................................
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