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編號
無錫太湖學院
畢業(yè)設計（論文）
相關資料
題目： 多關節(jié)魚形機器人設計
信機 系 機械工程及自動化專業(yè)
學 號： 0923035
學生姓名： 周躍
指導教師： 俞經虎 （職稱： ）
2012年6月25日
目 錄
一、畢業(yè)設計（論文）開題報告
二、畢業(yè)設計（論文）外文資料翻譯及原文
三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表”
四、實習鑒定表
無錫太湖學院
畢業(yè)設計（論文）
開題報告
題目： 多關節(jié)魚形機器人設計
信機 系 機械工程及自動化 專業(yè)
學 號： 0923035
學生姓名： 周躍
指導教師： 俞經虎 （職稱：教授 ）
2012年11月14日
課題來源
水下機器人在海洋環(huán)境研究、海洋資源探測和開發(fā)等民用領域和海洋軍事方面具有廣闊的應用前景和巨大的潛在價值。
科學依據（包括課題的科學意義；國內外研究概況、水平和發(fā)展趨勢；應用前景等）
隨著人類的發(fā)展，對資源的需求不斷增加。陸上資源的日益緊缺，讓我們把目光投向海洋。21世紀是海洋開發(fā)的世紀，水下機器人在海洋環(huán)境研究、海洋資源探測和開發(fā)等民用領域和海洋軍事方面具有廣闊的應用前景和巨大的潛在價值，吸引了人們更多的注意力。利用仿生學原理，開發(fā)類似海豚或金槍魚的操縱與推進技術是一個很有前途的研究方向之一。
上世紀三十年代起，人類開始對魚類游動進行觀察，提出了大量關于魚類游動機理的解釋。近年來，隨著人類對魚類游動機理了解的加深，同時伴隨著仿生學、流體力學、機器人學的進步，計算機、傳感器和智能控制技術的快速發(fā)展，以及新型材料的不斷涌現，對仿生水下機器人技術的研究達到了一個新的頂峰，涌現了大量基于魚類游動機理的仿生水下機器人。
研究內容
1.魚的外形設計，本設計是以金槍魚為模型，要盡量達到其仿真效果
2.魚體內部各部分的位置安排，保證機器魚在水里能平穩(wěn)游動
3.控制部分的設計，達到每秒鐘魚尾擺動 4次的頻率
4.計算部分，包括浮力中心和重力中心的計算，推進力和阻力的計算，各個翻轉力矩的計算。
擬采取的研究方法、技術路線、實驗方案及可行性分析
（1）實驗方案
對機器人進行整體設計，擬定其傳動部分的結構、轉速等，使其能夠半自動的進行運轉。
（2）研究方法
① 用ＣＡＤ進行二維畫圖，對機器人結構有個全面的了解。
② 對機器人的傳動部分進行計算與結構設計，使其提供合適的動力。
研究計劃及預期成果
研究計劃：
2012年10月12日-2012年12月31日：按照任務書要求查閱論文相關參考資料，完成畢業(yè)設計開題報告書。
2013年1月1日-2013年1月27日：學習并翻譯一篇與畢業(yè)設計相關的英文材料。
2013年1月28日-2013年3月3日：畢業(yè)實習。
2013年3月4日-2013年3月31日：機器人傳動系統計算和總體結構設計。
2013年4月1日-2013年4月14日：傳動體設計。
2013年4月15日-2013年4月28日：零件圖及三維畫圖設計。
2013年4月29日-2013年5月21日：畢業(yè)論文撰寫和修改工作。
預期成果：
達到預期的畢業(yè)設計要求，設計出的魚形機器人機器人可以快速平穩(wěn)的進行游動，并且傳動簡單緊湊、滿足工作要求。
特色或創(chuàng)新之處
與傳統的螺旋槳推進器相比仿魚鰭推進器具有如下特點:
(1)能源利用率高，初步試驗表明，采用仿魚鰭水下推進器比常規(guī)推進器的效率可提高30-100%。從長遠看，仿魚鰭的水下推進器可以大大節(jié)省能量，提高能源的利用率，從而延長水下作業(yè)時間。
(2)使流體性能更加完善，魚類尾鰭擺動產生的尾流具有推進作用，可使其具有更加理想的流體力學性能。
(3)提高水下運動裝置的機動性能，采用仿魚鰭水下推進器可提高運動裝置的啟動、加速和轉向性能。
(4)可減低噪聲和保護環(huán)境，仿魚鰭推進器運行時的噪聲比螺旋槳運行時的噪聲要低的多，不易被對方聲納發(fā)現和識別，有利于突防，具有重要的軍事價值。
(5)實現了推進器與舵的統一，仿魚鰭推進器的應用將改變目前螺旋槳推進器與舵機系統分開，功能單一，結構龐大，機構復雜的情況，實現漿一舵功能和二為一，從而可精簡結構和系統，簡化制造工藝，并降低成本和造價，具有重大的現實意義和使用價值。
(6)可采用多種馭動方式，對于應用于船舶、游艇等方面的仿魚鰭推進器可采用機械驅動，也可采用液壓驅動和氣壓驅動，以及混合驅動方式:對于小型水下運動裝置，可采用形狀記憶合金、人造合成肌肉以及壓電瓷等多種驅動元件。
已具備的條件和尚需解決的問題
① 設計方案思路已經明確，已經具備機械設計能力和機器人設計方案。
② 進行結構設計的能力尚需加強。
指導教師意見
此處日期2011年11月14日-2010年11月18日之間
指導教師簽名：
年 月 日
教研室（學科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領導簽名：
年 月 日
英語原文：
Design Of Tool Machine Prop
Research significance
The original knife machine control procedures are designed individually, not used tool management system, features a single comparison, the knife only has to find the tool knife, knife positioning the shortest path, axis tool change, but does not support large-scale tool.
Automatic knife in the knife election, in the computer memory knife-election on the basis of using the Siemens 840 D features, and the election procedures knife more concise, and complete the space Daotao View. ATC use the knife rapid completion of STEP-7 programming, and have been tested in practice. In the positioning of the knife, PLC controlled modular design method, which future production of similar machines will be very beneficial, it is easy to use its other machine. Automatic tool change systems will be faster growth, reduced tool change time, increase the positioning accuracy tool is an important means to help NC technology development.
Tool and inventory components of modern production is an important link in the management, especially for large workshop management. The traditional way of account management, and low efficiency, high error rate, and not sharing information and data, tools and the use of state can not track the life cycle, are unable to meet the current information management needs. With actual production, we have to establish a workshop tool for the three-dimensional tool storage system to meet the knife workshop with auxiliary storage and management needs.
The system uses optimization technology, a large number of computer storage inventory information, timely, accurate, and comprehensive tool to reflect the inventory situation. The entire system uses a graphical interface, man-machine dialogue tips from the Chinese menu, select various functions can be realized and the importation of all kinds of information. Management system using online help function. Through the workshop management, network management and sharing of information. Have automated inventory management, warehousing management tool, a tool for the management and statistical functions.
1.System components and control structure
The entire system, including the structure and electrical machinery control systems.
1.1.1Mechanical structure and working principle
Tool from the stent, drive, drive system, Turret, shielding, control system, and electrical components. Support from the column, beam, the upper and lower guide Central track, and track support component.
1) Drive for the system chosen VVVF method. Cone used brake motors, with VVVF by Cycloid reducer through sprocket drive.
2) Drag a variable frequency drive system and control technology. VVVF adopted, will speed drive shaft in the normal range adjustment to control the speed rotary turret to 5 ~ 30mm in, the drive shaft into two, two under through sprocket, the two profiled rollers Chain driven rotating shelves. Expansion chain adopted by the thread tight regulation swelling, swelling the regular way. - Conditioned, under the same chain-of-conditioning, so that the chain of uniform.
3) Turret and shields the entire total of 14 independent Turret. 13 of them as a socket-Turret, as a drawer-Turret, each Turret back through the pin and, under the conveyor chain link chain plate, installed at the bottom roller, chain driven rotating turret rotation along the track. Outlet-Turret and BT50-BT40 Turret Turret two kinds of forms. To strengthen management, security, landscaping modeling, shelf peripherals and shields. Turret-drawer drawer placed at six other Des Voeux a knife, can be categorized with some of knife auxiliary equipment, such as bits, such as turning tools.
1.1.2.Electrical Control System
This tool storage systems is the main electrical control their shelves for operational control and position control. Operational control equipment, including operation of the start of braking control. Position Control is the main location and address of the shelves for testing. Control system as shown in Figure 1.
圖 1 Tool Control System for the
1) Electric Transmission horizontal rotary tool storage systems are the mechanical movements are repeated short-term work system. And the run-time system needs some speed, speed transmission needs, the system will use VVVF method can be used simple structure, reliable operation of the motor and frequency inverter.
2) Control of the system is divided into two kinds of manual control and automatic control, manual control as a general reserve and debugging methods of work; ways to the system control computer (IPC) and the control unit (inverter contactor , etc.) consisting of a control system.
3) location and positioning accuracy of the system automatically identify the site and location using a detection device as proximity switches, relays through the plate-point isolation and the number plate recorded close to the switching signal acquisition and operation of Hutchison with a Optimal Path addressable identify the current location and shelves of the purpose of the shelf location. In order to enable a more accurate positioning system, adopted two photoelectric switches, to detect the two shelves of the two films.
1.2.The functions of the knife
knife The is the role of reserves a certain number of tools, machine tool spindle in hand to achieve the fungibility a disc cutter knife is the type of library, the chain knives, and other means, in the form of the knife and capacity according to the Machine Tool to determine the scope of the process.
1.3.Common types
The knife is a tool storage devices, the common knife mainly in the following forms:
(1) the turret knife
Including the first level turret vertical turret and the first two, see Figure 2.6 a) and b):
(2) the disc cutter
Disc knife in the library with discoid knife, cutting tool along See how vertical arrangement (including radial and axial from knife from knife), along See how radial array into acute or arranged in the form of the knife. Simple, compact, more applications, but are ring-cutter, low utilization of space. Figure 2.7 a) to c). If the knife storage capacity must be increased to increase the diameter of the knife, then the moment of inertia also increased correspondingly, the election campaign long knife. Tool number not more than 32 general. Cutter was multi-loop order of the space utilization knife, but inevitably given the knife from complex institutions, applicable to the restricted space Machine Tool storage capacity and more occasions. Two-disc structure is two smaller capacity knife on both sides of the sub-spindle place, more compact layout, the number of certificates corresponding increase knife, apply to small and medium-sized processing center.
(3) the chain knife
? Including single-and multi-ring chain ring chain, chain link can take many forms change, see Figure 2.8 a) to c), the basic structure shown in Figure 2. 8 do
Features: knife apply to the larger capacity of the occasion, the space of the small number of generally applicable to the tool in the 30-120. Only increase the length of the chain tool will increase the number should not be increased circumferential speed of its moment of inertia of the knife does not increase the disc as large.
(4) linear combination knife and the knife library
The linear knife simple structure in Figure 2.9, tool single order, the capacity of small knife, used for CNC lathe and drill press on. Because the location of fixed knife, ATC completed action by the spindle without manipulator. The cutter knife is generally the turret combination turret with a combination of the disc cutter knife and the chain combination. Every single knife the knife certificates of smaller, faster tool change. There are also some intensive drum wheel, and the lattice-type magazine for the knife, the knife-intensive though. Small footprint, but because of structural constraints, basically not used for single processing center, the concentration used for FMS for the knife system.
1.4 Tool storage capacity
Tool storage capacity of the first to consider the needs of processing, from the use of point of view, generally 10 to 40 knives, knife will be the utilization of the high, and the structure is compact.
1.5 Tool options
(1) choose to order processing tool according to the order, followed Add to the knife every knife in the Block. Each tool change, the order of rotation of a cutter knife on location, and remove the need knives, has been used by the cutter knife can be returned to the original Block, can also order Add Block, a knife. However, as the knife in the tool in different processes can not be repeated use of the knife must increase the capacity and lower utilization rate.
(2) most of the arbitrary choice of the current system of using arbitrary NC election knives, divided into Daotao coding, coding and memory-cutter, three. Daotao coding tool code or knives or Daotao need to install the code used to identify, in accordance with the general principle of binary coding coding. Tool knife election coding method uses a special knife handle structure, and each of the coding tool. Each of the tool has its own code, thereby cutting tool can be in different processes repeatedly used, not to replace the tool back at the original knife, the knife capacity can be reduced accordingly. Memory-election this paper knife, in this way can knives and knife in the position corresponding to the Daotao memory of the PLC in the NC system, no matter which tool on the Inner knife, tool information is always there in mind, PLC . On the knife with position detection devices, will be the location of each Daotao. This tool can be removed and sent back to arbitrary. On the knife is also a mechanical origin, every election, the nearest knife selection.
1.6. Control of the knife
? (1) the knife as a system to control the positioning axis. In the ladder diagram in accordance with the instructions for computing T code comparison of the output angle and speed of instructions to the knife the knife servo drive servo motor. Tool storage capacity, rotation speed, and / deceleration time, and other system parameters can be set in such a manner free from any outside influence positioning accurate and reliable but the cost is higher.
? (2) knife from the hydraulic motor drives, fast / slow the points, with proximity switches count and positioning. In comparison ladder diagram of the current storage system knife (knife spindle) and goals knife (pre-knife) and computing, then output rotation instructions, judging by the shortest path rotation in place. This approach requires sufficient hydraulic power and electromagnetic valve knife the rotational speed can be adjusted through the throttle. But over time may be oily hydraulic, oil temperature and environmental factors impact the change in velocity and accuracy. Not generally used in large and medium-sized machine tool change frequently.
? (3) the knife from AC asynchronous motor driven cam mechanism (Markov institutions), with proximity switches count, which means stable operation, and generally accurate and reliable positioning cam used in conjunction with a mechanical hand, ATC fast-positioning.
2. ATC, the main types, characteristics, and the scope of application
2.1 Auto Rotary Tool
Rotary Tool automatically on the use of CNC machine tool is a simple installation of automatic tool change, the Quartet and 47.60 Turret Tool various forms, such as rotary turret were installed on four, six or more of the Tool , NC instructions by ATC. Rotary Tool has two vertical and horizontal, relatively simple structure, applicable to economic CNC lathe.
Rotary Tool in the structure must have good strength and stiffness, resistance to bear rough Cutting Tool in the cutting force and reduce the role of deformation and improve processing accuracy. Rotating Tool to choose reliable positioning programme structure and reasonable position, in order to ensure that each rotary turret to a higher position after repeated positioning accuracy (typically 0.001 to 0.005mm). Figure 2.1 shows the spiral movements of the Quartet Turret.
Auto Rotary Tool in the simplest of ATC, is 180 o rotary ATC devices, as shown in Figure 2.2 ATC instructions received, the machine control system put ATC spindle control to the designated location at the same time, the tool movement to the appropriate location, ATC, with the rotary axis and at the same time, the knives matching tool; drawbars from Spindle Cutting Tools rip, ATC, will be the tool from their position removed; ATC, 180 o rotary tool spindle and the tool and tool away; ATC, the Rotary At the same time, the tool refocusing its position to accept Spindle removed from the cutting tool; Next, ATC, will be replaced with the cutter knives were unloaded into the spindle and tool: Finally, back to the original ATC, "standby" position. At this point, ATC completed procedures to continue to run. This ATC, the main advantage of simple structure, the less movement, fast tool change. The main disadvantage is that knives must be kept in parallel with the axis of the plane, and after the home side compared to the tool, chip and liquid-cutting knife into the folder, it is necessary to the tool plus protection. Cone knife folder on the chip will cause ATC error, or even damage knife folders, and the possibility of spindle. Some processing centre at the transfer, and the tool side. When the ATC command is called, the transfer-cutter knives will be removed, the machine go forward, and positioning with the ATC, in line with the position. 180 o "Rotary ATC devices can be used horizontal machine, can also be used for vertical machining centers.
2. 2 ATC head-turret installed
With rotating CNC machine tool often used such ATC devices, with a few turret head spindle, each with a spindle on both knives, the first tower interim process can be automatic tool change-realization. The advantage is simple structure, tool change time is short, only about 2 s. However, due to spatial constraints, the number of spindle can not be too much, usually only apply to processes less, not to high precision machine tools, such as the NC drill, such as CNC milling machine. In recent years there has been a mechanical hand and the turret head with a knife for the automatic tool change ATC devices, as shown in Figure 2.3. It is in fact a turret head ATC, and the knife-ATC device combination. The principle is as follows:
5 turret on the first two tool spindle 3 and 4, when using the tool spindle 4 processing tool, the manipulator 2 will be the next step to the need for the tool does not work on the tool spindle 3 until after the completion of this process , the first rotary turret 180 o, ATC completed. ATC most of their time and processing time coincidence, the only real tool change time turret transposition of the first time, this approach mainly used for ATC and NC NC drilling file bed.
2. 3.Daidao system for the automatic tool change
Figure 2.4 shows the knife and the whole machine tool CNC machine tools for the appearance of Fig.
? Figure 2.5 shows the knife and split-type machine to the appearance of CNC machine tool plans.
At this point, knife storage capacity, a heavier tool can, and often additional transport unit to complete the knife between the spindle and cutting tool transport.
Daidao the knife from the ATC, the election knives, automatic loading and unloading machine tool and tool exchange institutions (manipulator), composed of four parts, used widely.
Tool Automatic Tool Change the manipulator system, the whole process more complicated ATC. We must first used in the processing of all installed in the standard tool on the knife handle in the machine outside the pre-size, according to a certain way Add to the knife. ATC, selected first in the knife knife, and then from ATC, from the knife from the knife or spindle, exchange, the new knife into the spindle, the old knife back into the knife.
? ATC, as the former two knives to accommodate a limited number can not be too many, can not meet the needs of complex parts machining, CNC machine tool Automatic Tool Change Daidao the use of the automatic tool change devices. The knife has more capacity, both installed in the spindle box side or above. As for the automatic tool change Daidao device CNC machine tool spindle box only a spindle, spindle components to high stiffness to meet the machining requirements. The number of establishments in larger knife, which can meet the more complex parts of the machining processes, significantly improving productivity. Daidao system for the automatic tool change applied to drilling centres and CNC machining centers. The comparison drawn Daidao automatic tool change system is the most promising.
3.PLC control of the knife random mode of election
3. 1Common methods of automatic election knife
Automatic control of the knife CNC refers to the system after the implementation of user instructions on the knife library automation process, including the process to find knives and automatic tool change [(63,71]. CNC Machining Center device (CNC) directive issued by the election knife , a knife, the tool required to take the knife position, said the