一种可爬梯的无人配送小车机构设计(含CAD装配图)

一种可爬梯的无人配送小车机构设计(含CAD装配图)(任务书,开题报告,论文说明书14000字,CAD图1张)
摘  要
随着电子商务与线上销售模式的兴起和发展，快递逐渐成为人们日常生活中必不可少的一部分，而其运输效率的高低也成为人们关心的主要话题，为了提高运输效率，无人送货机器人已成为目前研究的一大热点。而在实现真正的无人送货上门的过程中，普通的配送小车都不具有攀爬楼梯、翻越障碍的功能。为此，本文提出了一种轮腿复合式爬楼小车，并对其进行了设计和分析。该车在平地时如正常小车一样依靠轮驱动车体前进，进入爬楼模式后依靠伸缩杆和轮部的配合实现爬楼动作。
本文首先对爬楼机构的整体框架进行了设计，并根据实际情况对各组成构件进行了选型；其次对小车的上楼动作经行了规划，并通过admas软件验证了此上楼过程中小车的稳定性，随后对小车重要结构进行了有限元仿真，验证小车在平地运动以及上楼运动时结构的可靠性，最后对本方案的经济性与环保性进行了简要分析
关键词：轮腿复合；爬楼小车；ADMAS仿真；静力学分析
 
Abstract
With the rise and development of e-commerce and online sales models, express delivery has gradually become an indispensable part of people's daily lives, and the level of transportation efficiency has become a major concern for people. In order to improve transport efficiency, Unmanned Delivery robots have become a major focus of current research. In the process of realizing the unmanned delivery of goods, the ordinary delivery carts do not have the function of climbing stairs and the obstacles. In response to this problem, this paper proposes a wheel-and-leg composite climbing cart and Designed and analyzed it. The car relies on the wheel-driven body like a normal car when it is on the flat ground. After entering the stair-climbing mode, it relies on the cooperation of the telescopic rod and the wheel to achieve the climbing-up action.
Firstly, this paper designs the whole framework of the stair climbing mechanism, and selects the components according to the actual situation; secondly, it plans the upstairs movement of the trolley, and verifies the trolley in the process of going upstairs through admas software. The stability of the car was followed by a finite element simulation of the important structure of the car to verify the reliability of the structure of the car during the flat ground movement and upstairs movement. Finally, the economic and environmental protection of the car was analyzed briefly.
Key Words：Leg-wheel；Stair-climbing；ADMAS simulation；static analysis
 

目  录
摘  要    I
Abstract    II
第1章 绪论    1
1.1研究背景及意义    1
1.2 国内外研究现状    2
1.2.1载物爬楼机    3
1.2.2载人爬楼机    3
1.3论文主要研究内容及工作安排    8
第2章 腿轮复合式爬楼装置结构设计及分析    10
2.1 引言    10
2.2 腿部机构设计    10
2.2.1 腿机构驱动方式选择    10
2.2.2电动推杆型号选择    10
2.3 驱动轮机构设计    12
2.4从动轮结构设计    13
2.5 配送小车尺寸设计    14
2.5.1 整体框架设计    14
2.5.2轮间距设计    15
2.5.3 控制系统布置    16
2.6机构整体形状    16
2.7机构整体重量    16
第3章 配送小车运动轨迹    18
3.1 配送小车爬楼运动轨迹    18
3.2配送小车转向运动轨迹    21
第4章 配送小车静力学分析    22
4.1 上板静力学分析    22
4.1.1平地运动状态进行受力分析    22
4.2.2 爬楼过程中上板受力    23
4.2螺栓连接处静力学分析    24
4.2.1螺栓连接的失效形式与计算准则    24
4.2.2受预紧力和轴向工作载荷的紧螺栓连接    24
4.3倾覆情况分析    25
第5章 配送小车运动分析    28
5.1 ADAMS简介    28
5.2 配送小车虚拟样机建立    28
5.3 仿真结果分析    31
第6章 经济性与环保性分析    37
第7章 总结    38
参考文献    39
致  谢    41