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1、四川大学锦江学院毕业论文（设计）无碳小车机械设计及其自动化专业【摘要】 “无碳小车”是2013年第三届全国大学生工程训练综合能力竞赛主题。此次竞赛分为两个小组，即“S”和“8”字组，我们本次的分组是“8”字组，所谓“8”字就是让小车在重物重力势能的作用下让小车在半张标准的乒乓球台（长1525mm、宽1370mm）上绕“8”字，并且在绕行的过程中能自动避开障碍物（障碍物的距离在300-500mm的范围变化），在小车的整个设计过程中，采用了现代设计发明理论方法，如参数化设计、系统设计等，并运用了AUTOCAD 、PROE等软件辅助设计。设计过程严谨，各个零部件的运动轨迹都从数学的角度得到了论证。
2、将小车的设计分为四个过程：方案设计、技术设计、制作调试、设计总结，通过对每个过程的深入的研究，严格控制每个过程，尽可能使小车的整体效果更佳。 方案设计过程依据据比赛对小车功能的要求，我们根据机器的构成（原动机构、传动机构、执行机构、控制部分、辅助部分）把小车分为车架 、原动机构 、传动机构 、转向机构 、行走机构 、微调机构六个模块，进行模块化设计。对每个模块采用多方案设计的设计原则，根据实际情况进行综合比对，选择出最优的组合。最终选择的方案是：车架采用三角底板式、原动件采用了锥形轴的、传动机构采用了齿轮、转向机构采用用曲柄连杆、行走机构采用单轮驱动实现差速、微调机构采用微调螺母螺钉。在转向机
3、构中，采用了不完全齿轮，在不完全齿轮的设计中，最重要的是参数的确定，通过小车轨迹的研究，最终确定合适的参数。技术设计过程先对方案设计过程中所选方案进行数学建模，从理论上进行分析和论证，根据理论力学对小车进行运动学和动力学分析，然后用PROE对小车进行实体建模，在建模的过程中对小车的每个零部件进行详细的设计，综合考虑零件材料性能、加工工艺、成本等 由于小车的受力不大，所以大量采用胶接，小车加工完成后，通过小车的实际运动，对小车进行调节，使它达到最佳状态。 最后总结本次比赛的得与失，在以后的工作学习中努力去弥补自己的不足。【关键词】： 无碳小车 “8”字形 自动避障 不完全齿轮设计 转向机构 传动
4、系统Carbon-free car【abstract 】 Carbon-free car is in 2013 the third session of the national college students engineering training comprehensive ability competition thesis topic. The competition is divided into two groups, namely the S and 8 the word group, we the group is 8 the word group, the so-call
5、ed 8 the word is to let the car under the action of the gravitational potential energy of let the car in half a standard table tennis (length 1525 mm, 1370 mm wide) around the eight word, and can automatically avoid obstacles in the process of round (obstacle distance changes in the range of 300 mm
6、to 500 mm), in the whole design process of car, I used the modern design theory, such as parameterized counsels, system design, and using the AUTOCAD, PROE software aided design, etc. Trajectory of every parts and components in the design process is rigorous, all from the perspective of mathematical
7、 demonstration. I will car design is divided into four stages: project design, technical design and production of commissioning and design summary, through in-depth study of each process, strict control of each process, as far as possible to make the car the overall effect is more better. Design pro
8、cess, according to event based on the car function requirements, we according to the composition of the machine (prime mover structure, transmission mechanism, actuators, control part, auxiliary part) put the car into the frame, engine structure, transmission mechanism, steering mechanism, travel me
9、chanism, fine-tuning mechanism of six modules, carries on the modular design. For each module adopts the design principle of the design, make a comprehensive comparison according to actual condition, choose the optimal combination. Final selection scheme is: the frame adopts triangle plate type, the
10、 original piece by using the cone shaft, gear transmission mechanism adopted travel mechanism and steering mechanism with the crank connecting rod, differential, fine-tuning mechanism is realized by using single wheel drive using trimming nut screw. In steering mechanism, we used the incomplete gear
11、 design, in the design of incomplete gear, the most important is the determination of parameters, we through the car track research, finally determine the appropriate parameters. Technology design process we selected in the process of the design plan for mathematical modeling, analysis and theoretic
12、al demonstration, according to the theory of mechanics of kinematics and dynamics analysis was carried out on the car, and then use PROE to entity modeling, the car in the process of modeling squadron car design of each component in detail, considering parts material performance, processing technolo
13、gy, cost etc Produced in the process of debugging in addition to bearing all the parts are made by our own manual processing, due to the stress of the car is not big, so we meet with glue in great quantities, car processing is completed, through the actual movement of the car, adjusted for the car,
14、make it to your best. Finally summarizes the gain and loss of the game, in the later work and study hard to make up for the shortage. 【Keywords】: Carbon-free car 8 glyph automatic obstacle avoidance Incomplete gear design Steering mechanism The transmission system VI目 录1 绪论11.1 论题背景11.2 小车功能设计要求11.3
15、 “8”字形的实现21.4 小车的设计方法22 方案设计32.1 车架52.2 原动机构52.3 传动机构62.4 转向机构72.5 行走机构82.6 微调结构92.7 方案设计总结103 技术设计103.1 转向系统103.1.1 小车的轨迹103.1.2 轨迹的计算113.1.3 小车的转向原理113.1.4 小车的最大转角123.2 初选齿轮参数133.2.1 传动比的确定133.2.2 齿轮模数的确定133.2.3 齿轮其它参数的确定134.齿轮的计算（注：以下公式均来自邱宣怀.机械设计.第四版）144.1 齿面接触疲劳强度计算144.2 校核计算154.3 确定传动主要尺寸165 轴承的选取186 轴的选取207 总结217.1 小车的优缺点217.2 设计心得21参考文献22附录：小车装配图（3D）23致 谢241 绪论1.1 论题背景为了促进各高校提高工程实践和工程训练教学改革和教学水平，培养大学生的创新设计意识、综合工程应用能力与团队协作精神，促进学生基础知识与综合能力的培养、理论与实践的有机结合，养成良好的学风，为优秀人才脱颖而出创造条件，开办了由教育部、财政部资助的全国大学生工程训练综合能力竞赛，而本次竞赛的主题就是无碳小车。1.2 小车功能设计要求图121 无碳小车示意图 图1
