矿用破障救援机器人行走机构设计及仿真.doc

矿用破障救援机器人行走机构设计及仿真 机设06-5班 汪林清 指导老师：罗静 摘要:目前灾难救援机器大多为陆上、空中避障探测救援，对于需要破障进入塌方、废墟内部的情况，常规挖掘钻探设备很难及时有效搜救被困人员。该破障救援装置主要针对煤矿塌方等内部救援而设计。 本设计采用仿尺蠖运动机理，以液压为动力，前后两部分互为支撑，屈伸爬行，前部采用扩张增力机构，排除障碍。在坍塌的巷道中，伸缩前进，到达预定地点，为幸存的受困人员输送药物、食品和氧气等，为救援人员争取更多的救援时间，提高救援效率，避免二次伤害的发生。设计中分析计算了双边铰杆增力机构的各方面参数，为双边铰杆增力机构的更好研究与应用提供了理论基础，并自行设计了分级双边铰杆增力机构，克服了在输入力一定的情况下，初始输出力较小的局限性，极大地提高了机构的承载能力；文中采用现代设计理论与方法，应用Pro/E、3DMAX等机械设计软件进行三维实体动态设计、机构运动仿真、有限元分析、结构优化设计及行为建模等，结合实际生产环境，最大限度的提高工作效率，减少产品设计周期，降低生产成本。 关键词：破障救援 机器人 分级双边铰杆增力机构 行走机构 仿真 Abstract: Currently disaster relief for the land, the air machine mostly obstacle-avoidance and detection rescue, the need for breaking into the landslide barrier, and ruins of conventional mining drilling equipment to timely and effective rescue trapped workers. The broken disabled rescue device aimed at mines and other internal aid design. This design uses the imitation of the cankerworms movement and mechanism of hydraulic power. After two parts are supported by crawling, the front adopts the power mechanism to unblock obstacle. Crawling in the collapsed tunnel for surviving sites delivering drugs, food and oxygen, for the rescue crews get more time, improve efficiency and to avoid secondary damage relief. Design and calculation for the institution of power mechanism of double-sided hinge-rod overcoming the limitations of small initial output force. It has greatly improved the capacity of the institution. Using the modern design theory and method, Pro/E and 3DMAX, this design has realized three-dimensional dynamic mechanism motion simulation, the finite element analysis, structural optimization design and behavioral modeling. With actual production environment, it can improve the work efficiency, reduce product design cycle and reduce production cost. Keywords: unblocking and rescuing; robot; power mechanism of classifying double-sided hinge-rod; running mechanism ; emulation 一、概述 由于目前的灾难救援机器大多为陆上、空中避障探测救援。对于需要破障进入塌方、废墟内部的情况，常规挖掘钻探设备很难及时有效搜救被困人员。该破障救援装置主要针