本科學(xué)生畢業(yè)設(shè)計(jì)高空作業(yè)機(jī)器人設(shè)計(jì)系部名稱：機(jī)電工程學(xué)院專業(yè)班級：機(jī)械設(shè)計(jì)制造及其自動(dòng)化08-4班學(xué)生姓名：指導(dǎo)教師：職稱：二一二年六月TheGraduationDesignforBachelorsDegreeStructureDesignofNoClimbingFull-automaticHighAltitudeWiringRobotCandidate:GuanHongSpecialty:MechanicalDesignandManufacturing&AutomationClass:B08-4Supervisor:AssociateProfessorLiuXipingHeilongjiangInstituteofTechnology2012-06HarbinI摘要在一切追求人性化的今天，越來越多繁重、危險(xiǎn)和高難度的工作，開始采用機(jī)器人（包括機(jī)械手）來代替人類完成。裸高壓導(dǎo)線輸電線路的高空接線工作，一直是困擾高空作業(yè)人員的棘手問題，由于其危險(xiǎn)性極大，作業(yè)條件艱難，僅靠人力很難做到，所以都是借助高空作業(yè)車的幫助來實(shí)現(xiàn)的。近年來，越來越多的人致力于多自由度的高空全自動(dòng)繞線裝置的研究，試圖找到一種簡便、經(jīng)濟(jì)、安全、有效的方法，來解決這一難題。因此，無攀爬式全自動(dòng)高空接線機(jī)器人應(yīng)運(yùn)而生，該機(jī)器人通過實(shí)現(xiàn)高空握持導(dǎo)線、不規(guī)則的圓周繞線運(yùn)動(dòng)和橫向進(jìn)給運(yùn)動(dòng)等動(dòng)作，來完成繞線任務(wù)。通過對各種方案的對比，決定采用斜齒輪傳動(dòng)繞線，螺旋傳動(dòng)進(jìn)給來實(shí)現(xiàn)主要功能。本設(shè)計(jì)構(gòu)思新穎，而且具有結(jié)構(gòu)輕便、經(jīng)濟(jì)適用、效率高、安全等顯著優(yōu)勢，順應(yīng)時(shí)代發(fā)展方向，具有很高的可行性，適用于各種工作場合。關(guān)鍵詞：無攀爬式；自動(dòng)繞線；斜齒輪傳動(dòng)；進(jìn)給；螺旋傳動(dòng)IIABSTRACTInthisinformationera,moreandmoreheavy,dangerousanddifficultworksarebeingdonebyrobot,manipulatorincluded.Theconnectionofbarehigh-tensionwirehasalwaysbeentroubledsteeplejacks.Itsextremelydangerous,andtheworkconditionishard,sopeoplehavetogethelpfromthealoftworkingcar.Inrecentyears,moreandmorepeopleareconcentratedondevelopmentofdeviceoffull-automatichighaltitudewiring.Theytrytofindaconvenient,economical,safelyandefficientprogramtosolvethisproblem.Thenthenoclimbingfull-automatichighaltitudewiringrobotcomesout.Itaccomplishesitstaskbyholdingwiresinhighattitude,coilingincircleirregularlyandtransversefeed.Throughthecomparisonofseveralprograms,thehelicalgearingandscrewdrivenareusedtowiringandfeed,respectively.Thisdesignhasanovelidea,andithasadvantageoflightstructure,economicandapplicable,efficientandsafely.Itcomplieswiththedevelopmentoferaandcanworkinanyconditions.Keywords:noclimbing；full-automaticwiring；helicalgearing；feed；screwdriven目錄摘要IAbstractII第1章緒論11.1課題研究背景11.2課題研究目的和意義11.2.1課題研究目的11.2.2課題研究意義11.3國內(nèi)外發(fā)展現(xiàn)狀21.4發(fā)展前景展望4第2章總體方案確定52.1齒輪齒條繞線機(jī)構(gòu)52.2內(nèi)嚙合齒輪繞線機(jī)構(gòu)62.3斜齒輪嚙合繞線機(jī)構(gòu)62.4本章小結(jié)7第3章參數(shù)的確定及電機(jī)的選擇83.1繞線機(jī)構(gòu)參數(shù)的確定83.2進(jìn)給機(jī)構(gòu)參數(shù)的確定113.3抓線和導(dǎo)線握持機(jī)構(gòu)參數(shù)的確定133.3.1抓線機(jī)構(gòu)參數(shù)確定133.3.2導(dǎo)線握持機(jī)構(gòu)參數(shù)的確定1