机械综合重点工程优质毕业设计乒乓球收集小车的设计乒乓球收集器.docx

汉字摘要摘要：国外服务型机器人多年来不停创新，在机电一体化、高精度化、高速化等方面全部有重大突破。中国服务型机器人经过不停引进国外优异技术，也取得不小进步，但在体育运动方面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研究及现代机械设计理论和手段，以提升乒乓球运动练习效率、缩短在练习乒乓球时捡球时间、满足市场需求为目标，进行乒乓球搜集小车设计，使其含有自动寻路、搜集、传送等功效。论文所完成关键工作以下。首先对乒乓球搜集小车进行了总体方案设计，依据功效分析结果将其分为搜集模块、传送模块、行走和控制模块等功效模块，并对个功效模块进行了方案设计和选择。然后，基于以上确定方案，分别对各机构进行了具体设计，包含尺寸设计和结构设计，绘制了相关零件图和总装配图，并进行了标准件选择及计算。本乒乓球搜集小车前端采取滚筒配合挡板结构，由直流电机驱动，将乒乓球收入机器内，然后经过传送通道传送到传送机构入口，传送机构将乒乓球传送到搜集盒中，搜集盒可手动取出。关键词：乒乓球搜集小车；搜集；传送；自动行走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 绪论伴随机器人技术发展,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应用已经很多,但要想进入家庭,成本就成了关键原因,其中既包含材料成本,也包含研发和制造成本。大家对机器人技术自动化本质认识加深，机器人技术开始源源不停地向人类活动各个领域渗透。在这其中，服务机器人作为一个关键分支，在中国外研究领域已经得到普遍重视。服务机器人应用范围很广，关键从事维护保养、修理、运输、清洗、保安、救援、监护等工作1 。文中所述乒乓球搜集小车，正是一个应用于乒乓球体育运动自主式移动服务机器人。价格面议！可商议，酷酷：