災(zāi)害救援機器人車體與控制系統(tǒng)設(shè)計
Disaster relief and control system design of robot body

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摘 要
每年，全球都會發(fā)生不計其數(shù)的災(zāi)難，不論是人為災(zāi)害還是自然災(zāi)害，都造成成千上萬的人失去生命和難以計數(shù)的財富損失。在災(zāi)害面前人類的力量或許是微小的，但人類跟自然的斗爭將繼續(xù)下去，尤其是進入20世紀(jì)后人們在災(zāi)害救援方面投入了非常多的精力和財富，許多產(chǎn)品在災(zāi)害救援中展現(xiàn)了優(yōu)秀的表現(xiàn)。就全球災(zāi)害救援機器人的發(fā)展趨勢來看，人們在救火機器人和礦井救援機器人等方面表現(xiàn)了更多的興趣。而本設(shè)計所涉及的就是救火救災(zāi)機器人這一方面。設(shè)想一種機器人能在火場中行走，及時提供現(xiàn)場或近距離的火場情況，或近距離實施援或滅火，那就會大大減少或避免人員的傷亡，并提高救火滅火效率。消防機器人的研究被人們越來越重視。
消防機器人由三個部分組成，分別是行走機構(gòu)設(shè)計，車體設(shè)計總裝及控制，消防冷卻系統(tǒng)的設(shè)計。本論文主要是車體設(shè)計總裝及系統(tǒng)控制，首先經(jīng)過具體的調(diào)研和參考同類設(shè)計確定車體大概外廓尺寸，再選標(biāo)準(zhǔn)的功能部件和確定具體的安裝，從而確定車的具體結(jié)構(gòu)，選擇車體傳感器，最后選擇相應(yīng)的控制系統(tǒng)和確定消防機器人基本功能的控制算法。
本文具體內(nèi)容主要包括以下幾個方面：
1. 工業(yè)機器人的作用和消防機器人的發(fā)展，需要具備的基本功能和基本構(gòu)成以及需要進一步研究的問題。
2. 車體的設(shè)計計算及其功能部件的選擇。
3. 消防機器人上傳感器的選擇及其具有的特點。
4 消防機器人控制系統(tǒng)及其基本算法。
5 對消防機器人的特點，存在的問題及其相應(yīng)的解決方法的闡述。
消防機器人具有越障，避障，探測和滅火的基本功能，且采用了較為先進的控制系統(tǒng)。消防機器人初步具有對環(huán)境的應(yīng)變能力。

關(guān)鍵字 ： 災(zāi)害救援 ,機器人車體，消防車，多軸控制器，系統(tǒng)控制



Disaster relief and control system design of robot body

ABSTRACT
Happens every year, the global numerous disasters, both man-made disasters and natural disasters, causing tens of thousands of people lost their lives and countless wealth loss. In front of the disaster of human strength may be small, but mankind will continue the struggle with nature, especially after entering the 20th century, people in the disaster relief has invested a lot of energy and wealth, many product shows excellent performance in disaster relief. The developing trend of global disasters of the robot, people in such aspects as fire fighting robot and mine rescue robot into more interest.And this design is involved in fire rescue robot that regard. Imagine a robot can walk on fire, and the timely provision of on-site or close fire situation, or close to the implementation of aid or fire, it will greatly reduce or avoid casualties and to improve the efficiency of fire fighting. Fire robot research is growing attention.
The fire fight-robot consists of three parts, including design of the organization of running , the design of total pack and control system of bodywork, the design of the fire fight cooling system.This thesis is mainly about design of the bodywork ,total pack and the control system of the fire fight-robot , firstly,to design the outside size of the bodywork through concrete investigation and the reference of the same kind designs , then to choose a lot of standard function parts that and decide the concrete installing , thus make sure the concrete structure of the fire fight-robot, to choose the feeling machines of the work-body ,lastly, choice of the correspond control system and certain fire fight robot control calculate way of the basic function.
This thesis mainly includes following few aspects:
1. The function of the industry robot and the development of the fire fight-robot, basic function , basic composing and the problem of further research .
2. The design calculation of the bodywork and the choice of its function parts.
3. The choice of the feeling machine and the characteristics that it have on the fire fight robot.
4. The fire fight robot control system and its basic calculated way of controlling system.
5. To the characteristics of the fire fight robot, existent problem and the correspond resolvent method is elaborated .
The fire fight robot have more obstacles , avoid the obstacle ,probing and extinguishing fire; it has adopted the more advanced control system.The fire fight robot has the first time ability to reply to the environment.

Key words: Disaster relief; Robot body; Fire engines; Multi-axis controller； Control system.




目 錄

第一章 引 言 - 8 -
1.1 工業(yè)機器人概述 - 8 -
1.2 消防機器人的發(fā)展簡述 - 8 -
1.3 消防機器人要解決的問題 - 9 -
1.4 消防機器人的基本構(gòu)成 - 10 -
1.5 消防機器人需要進一步研究的問題 - 13 -
1.6 方案設(shè)計 - 13 -
第二章 消防機器人的基本結(jié)構(gòu)及設(shè)計計算 - 18 -
2.1 消防機器人的外廓尺寸的確定 - 18 -
2.2 驅(qū)動輪伺服電動機和伺服驅(qū)動器的選擇 - 18 -
2.3 減速器的選用及傳動錐齒輪的設(shè)計計算 - 23 -
2.3.1 減速器的選型 - 23 -
2.3.2 傳動錐齒輪的設(shè)計 - 24 -..