礦井救援機(jī)器人行走機(jī)構(gòu)設(shè)計【含CAD圖紙、說明書】

附錄一：英文原文RobotG. Gary WangAssistantProfessorDept.ofMechanicalandIndustrialEngineering,UniversityofManitoba,Winnipeg,MB, R3T 5V6 Canadae Robots classificationSeveral thousand years ago the humanity longed for that makes one kind of elephant persons same machine, in order to extricates the humanity from the arduous work. If the ancient Greece poet Homeros lengthy narrative poem “Yiliyate“ god of lame sea time of Si Tesi smelting, uses the gold casting to have a beautiful intelligent maidservant; Greek mythology “Lu Elder brother Discovery ship“ bronze giant Tailuosi (Taloas); Judea in fables soil giant and so on, these beautiful myth times were driving the people must certainly become the beautiful myth the reality, as early as started before two millenniums to present the automatic wooden figurine and some simple mechanical figurines. to the modern times, in after a robot words appearance and the world the first industry robot comes out, the different functions robot also one after another appears, and enlivened in the different domain, from the space to the underground, developed from the industry broadly to the agriculture, the forest, the herd, the fishing, even entered the common family. Robots many type, broad application, affects the depth, is we are unexpected. Divides from robots use, may divide into two broad headings:Military robot: ground military robotThe ground robot is mainly refers to the intelligence or the remote control wheeled and the track-laying vehicle. The ground military robot may divide into the independent vehicles and half independent vehicles. The independent vehicles depend upon the own intelligent autonomous navigation, the avoidance obstacle, the independence complete each kind of combat mission; Half independent vehicles may exercise independently under persons surveillance, when encounters the difficulty the operators may carry on the remote control intervention. unmanned aerial vehicleIs called the airborne robots unmanned aerial vehicle is in the military robot develops the quickest family, the first autopilot has been published since 1913, unmanned aerial vehicles fundamental type has achieved 300 many kinds, at present the unmanned aerial vehicle which sells in the world market has 40 many kinds. The US participated in nearly the world all important wars. Is advanced as a result of its science and technology, the national strength is strong, thus 80 for many years, the world unmanned aerial vehicles development basically has been prompts forward by the line. The US studies one of unmanned aerial vehicle earliest countries, regardless of today looking from technical level or unmanned aerial vehicles type and quantity, the US occupies the world leader. the comprehensive survey unmanned aerial vehicle develops the history, may say that the modern warfare is the power which the unmanned aerial vehicle develops, the high technology and new technology development is the foundation which it progresses unceasingly. underwater robotThe underwater robot divides into some person of robots and nobody robot two broad headings:Some person of submersibles mobile nimble, is advantageous for the processing complex question, holds the post the life will possibly have the danger, moreover the price will be expensive. The unmanned submersible is the underwater robot which the people said that “Shinao” is one kind. It is suitable for the long time, the wide range inspection duty, in the recent 20 years, the underwater robot had the very big development, they both may military and be possible civil. Further develops along with the human to the sea, in the 21st century they will certainly to have a more widespread application. According to the unmanned submersible and the water surface support equipment (depot ship or platform) contact methods difference, the underwater robot may divide into two broad headings: One kind has the cable underwater robot, in the custom is called as it controls remotely the submersibles, is called ROV; Another kind does not have the cable underwater robot, in the submersibles custom is called as it the autonomous submersibles, is called AUV. Has the cable robot is the remote control type, divides into towed, (seabed) according to its mode of motion the mobile and the float (from navigation) the formula three kinds. Does not have the cable underwater robot only to be able to be autonomous -like, at present also only then the observation float type one mode of motion, but its prospect is bright. spatial robotThe spatial robot is one kind of low end light teleoperator, may in the planet atmospheric environment the guidance and the flight. Therefore, it must overcome many difficulties, for example it must be able, in changes unceasingly in three dimensional environment movement and autonomous navigation; Cannot pause nearly; Must be able real-time to determine it in the spatial position and the condition; Must be able to carry on the control primarily to the American its vertical movement; Must forecast and plan the way for its star border flight. Civil robot: industry robot The industry robot is refers to the industry the application one kind can carry on the automatic control, to be possible to duplicate programs, multi-purpose, the multi-degrees-of-freedom, the multipurpose operation machine, can transport the material, the work piece or manages the tool, with completes each kind of work. And this kind of operation machine may fix in a place, may also on the reciprocal motion car. service robotThe service robot is in a robot familys young member, so far still did not have a strict definition, the different country to serves robots understanding also to have certain difference. Serves robots application scope to be very broad, is mainly engaged in work and so on maintenance, maintenance, repair, transportation, clean, security, rescue, guardianship. The German production technology and Institute of Automation manager executed Dr. Lafute for to serve the robot to give this kind of definition: Serves the robot is the shifter which one kind may program freely, it should have three motive axles at least, may partially or the completely automatic completes the services. Here services refer to are not the servicing activities which is engaged in for the industrial production goods, but refers to the services which the manner and the unit complete. entertainment robotThe entertainment robot take watches, the entertainment for the human as a goal, has robots exterior characteristic, may look like the human, some kind of animal, looks like in the fairy tale or the science fiction character likely and so on. Simultaneously has robots function, may walk or complete the movement, may have the verbal skill, will sing, has certain sensation ability. kind of person robotMay see from other categorys robot, the majority robots do not look like the human, some do not even have a persons appearance, this point to cause many robot amateurs to be greatly disappointed. Perhaps you will ask, for system class person robot? Such robot will be easier to let the human accept. Actually, develops the outward appearance and the function and persons same robot is the desire which the scientists long for even in dreams, is also the goal which they pursue unremittingly. However, develops the performance outstanding kind of person robot, its biggest difficulty is both feet erectness walks. Because the robot and persons study way is dissimilar. A baby wants to study first walks, then studies runs; But the robot must study first runs, then studies walks. That is the robot study runs easier. agricultural robotBecause the mechanization, the automaticity are quite backward, “the surface faces upwards toward the loess back, did not have time throughout the year” has become our country farmers symbol. But recent years agricultural robots being published, hopefully changed traditional the work way. In the agricultural robots aspect, Japan resides in head at present the various countries.Robot historyUSThe US is robots birthplace, as early as developed in the world in 1962 the first industry robot, compares was known as “ the robot kingdom “ Japan to start must at least early 56 years. After more than 30 years development, the US already became one in world robot powerful nations, the foundation is abundant, technological advance. The comprehensive survey its history, the path is winding, is not smooth.Because The US government from the 60s to the 70ss in ten several years period, has not included the industry robot the prioritize project, was only has done some research work in several universities and the minority company. Regarding the enterprise, in only saw the momentary interests of the day, the government does not have the financial support in the situation, rather misses the good opportunity, defends stubbornly in the use rigidity automation installment, is also not willing to run risks, applies or makes the robot. In addition, at that time the American unemployment rate reached as high as 6.65%, the government worried that the development robot can cause more people to be unemployed, therefore does not give the investment, also does not organize to develop the robot, this has no alternative but saying that is The US governments strategic decision is wrong. In the late 70s, although The US government and the business community had take seriously, but still placed in the technical route the key point the research robot software and the military, the universe, the sea, the nuclear engineering and so on the special domain high-quality robots development, caused Japans industry robot to catch up, and surpassed the US very quickly in industrial productions application and the robot manufacturing industry, the product has formed the strong competitive power in the international market.After the 80s, the US only then feels the situation to be urgent, the government and the business community only then truly takes seriously to the robot, in the policy also has manifests, on the one hand encourages the industrial world development and the application robot, on the other hand the making plan, the enhancement investment, increase robots research funds, regards as the American once more industrialization the robot the characteristic, causes USs robot rapidly expand.In the late 80s, applies robots technical gradually maturing along with each big factory, the first generation of robots technical performance could be getting more and more dissatisfied the actual need, the US starts to produce has the second generation of robot which the vision, the strength thought that and has seized the American 60% robot market very quickly. the US passes through one in the robot history to take the fundamental research freely, the neglect application development research road diversion, but USs robot technology internationally still has been in the leading position. Its technology is comprehensive, is advanced, the compatibility is also very strong. Concrete manifestation in:(1) the perform reliably, the function is comprehensive, the precision is high; (2) the robot language study development is quick, the linguistic type many, applies broadly, the level comes first in of high world; (3) the intelligence technological development is quick, its vision, sense of touch and so on artificial intelligence technology already in astronautics, automobile industry widespread application; (4) high development and so on intelligent, high difficulty military robot, outer space robot are rapid, mainly uses in the mine clearance, laying mines, the reconnaissance, to stand guard and the outer space survey aspect. EnglandAs early as in 1966, American Unimation Corporations You Ni the Munder robot and the AMF Corporations fertile sha especially blue robot already took the lead to enter the British market. in 1967 Britains two greatly mechanical companies also especially for American these two robot company in British sales promotion robot. Then, British Hall Automation Corporation develops own robot RAMP. In the early 70s, because the British government Scientific research Committee has promulgated the denial artificial intelligence and robots Lighthall reported that has implemented the limit development stern measures to the industry robot, thus the robot industry is unable to recover, almost resides in the lowliest place in Western Europe.But, internationally the robot vigorous developments situation very quickly causes the British Government to realize: Robot technologys backwardness, causes its commodity in international market competitive power is the drop greatly. Therefore, started from the late 70s, the British government transferred has the support manner, carried out and implements has a series of supported the policies and measures which the robot developed, like the widespread propaganda used robots importance, in the finance for the purchase robot enterprise subsidy, to promote the robot research unit and the cartel positively and so on, made the British robot to start the prosperous time which and developed vigorously in the realm of production widespread application.FranceFrance not only resides in the world leader in the robot capacity, moreover is in the world advanced level in the robot application level and the application scope. This mainly gives credit the French government quite takes the robot technology from the very beginning, specially places the key point develops in robots applied research.The French robots development is quite smooth, the primary cause is the research project which supports vigorously through the government, establishes a complete science and technology system. Namely by Official organization some robot foundation technology aspect research project, but applies and develops the aspect by the industrial world support development the work, both complement one another, cause the robot at the French business community very quick development and the popularization.GermanThe Germany industry robots total occupies world third, is only inferior to Japan and the US. Here said Germany, what mainly refers to is original Federal Republic of Germany. It compared to British and Sweden introduction robot approximately late 56 years. Its therefore so, is because of a Germanys robot industry start, met the domestic economy not to be booming. But Germanys social environment is actually is advantageous to the robot industrial development. Because of the war, causes the labor force to be short, as well as the national technical level is high, is realizes uses robots advantage. To the 70s mid and late part, the government has used the administrative method to pave the way for robots promotion; Stipulated in “ the improvement work condition plan “ that has the danger regarding some, virulently, the harmful operating post, must replace average persons work by the robot. This plan has developed the widespread market for robots application, and promoted the industry robot technology development. The Rierman nationality is any scientist does not grind the heavy actual nationality, they always insisted the technical application and the social demand unify principle. Is likely same besides the majority countries, the robot main application in the automobile industry, a prominent spot is Germany in the textile industry with the modernized production technological transformations original enterprise, has discarded the old machine, has purchased the modernized automatic equipment, the electronic accounting machine and the robot, causes the textile industry cost to drop, the quality to enhance, the product color and pattern varieties even more is suitable for sale. Caused to 1984 the profession which explained is “ is on ones last legs “ to promote finally. Meanwhile, Germany saw the robot and so on advanced automated technology to industrial productions function, proposed after 1985, the goal which must to high-level, the belt feel the intelligence robot which shifts. After near ten year endeavors, its intelligent robots research and the application aspect are in the recognition in the world the leading position.RussianIn the former Soviet Union (is mainly in Russia), discusses the robot technology from the theory and the practice is from 50 niandai houbanqi starts. Started the robot prototypes research work to the late 50s. in 1968 trial produced a deep water work robot successfully. in 1971 developed the multi-purpose robots which the factory used. As early as (in 1970 11,975 years) started when the former Soviet Union ninth five-year plan, developed the robot to include in the country scientific technological advance guiding principle. To 1975, has developed 30 models 120 robots, passes through 20 year endeavor, former Soviet Unions robot in quantity, the quality water on is at the world leader position. The country has the destination to enhance the science and technology progress to treat as the impetus social product development the method, arranges robots research manufacture; The related robots research production, applies, the promotion and the enhancement work, arranges by the government, to have the plan, to carry on according to the step.ChinaSome people believed that is only to save the labor force using the robot, but our country pool of labor power is rich, develops the robot not necessarily to tally with our country national condition. This is one kind of misunderstanding. In our country, socialist systems superiority had decided the robot can display its strong point fully. It not can only bring the high productive forces and the huge economic efficiency for our countrys economic development, moreover for our countrys universe development, the ocean development, the nuclear power using and so on emerging domains development will make the remarkable contribution。China in “75” the plan the robot row person country key scientific research plan content, has dialed the great sum of money to establish in Shenyang the national first robot research demonstration project, has launched the robot basic theory and the foundation primary device research comprehensively. For several years, develop the demonstration reappearance one after another covering extensive fields and so on transporting, spot welding, arc welding, painting, assembly the industry robot and the underwater operation, military and the special robot. At present, demonstration reappearance robot technology already basic mature, and promotes the application in the factory. Our country produces voluntarily robot painting assembly line in Changchun FAW Cart yard and east wind automotive factory investment movement. in March, 1986 started the national 863 high tech development project has included the research, the development intelligent robots content. Currently speaking, we should from the production and application angle embarking, unify our country national condition, the increase production structure are simple, cost inexpensive practical robot and certain special robots.JapaneseJapan is being in the economic depth development time in the late 60s, the yearly rate reaches 11%. After Second World War, Japans labor force originally anxious, but the high velocity economic development intensified the labor force serious insufficient difficulty. Therefore, Japan introduced the robot and the technology in 1967 by the Kawasaki Heavy industry Company from American Unimation Corporation, the establishment the Production workshop, and trial produced the first Kawasaki in 1968 “especially Nepali Munder” the robot.Is precisely because Japan at that time labor force remarkable insufficient, robot has received “Savior” in the enterprise welcome. The Japanese government has adopted the positive prop policy at the same time in the economy, encourages to develop and the promoted application robot, thus the f