摘  要

根据能量守恒定律，物块下落的时能直接转化为装置的动能，推动装置前进，此时势能的损失最小，故装置前进的动能应有物块的势能直接转化。设计要求装置有自动避障的功能，装置的前进路线呈中周期性变化，但是当装置转向时速度有损失，故其前进路线需要通过精确计算得到。需要对装置的结构进行分析，综合考虑装置的加工工艺，成本，使得到的产品设计合理。 在设计的时候需要尽量减轻整车的质量，对装置进行受力分析，保证其行驶过程中运动平稳。

针对题目要求拟定了S环形避障装置的总体设计方案，通过计算分析完成了S环形避障装置的结构设计，通过对装置的功能分析，装置需要完成自动避开障碍物，驱动自身行走，重力势能的转换功能。所以我们将装置的设计分为以下部分，路径的选择，自动转向装置，能量转换装置和车架部分。装置在运动中，其运动轨迹简化为余弦曲线图像，通过装置的传动比以及转向装置曲柄的长度计算出余弦曲线的幅值，将装置放置于幅值处。将障碍物的方向定为Y轴，X轴在水平面垂直于Y轴，画出装置前进路线轨迹，将障碍物在轨迹图中，找到能通过的位置，量取此时Y轴与装置出发的幅值处即为装置出发点。绘制了装配图和部分主要零件图，通过solidworks2016模拟仿真验证了预定功能，并制作出了实体样机，通过实体样机的演示达到了规定功能。

关键词：S环形；避障装置；无碳装置；机械设计

Abstract

According to the law of conservation of energy, when the object block falls, it can be converted directly into the kinetic energy of the car and pushes the car forward. At this time, the potential energy loss of the vehicle is minimal. Therefore, the kinetic energy of the car forward should be directly transformed into the potential energy of the mass. The design requires the car to have the function of automatic obstacle avoidance, and the forward route of the car changes periodically. However, the speed of the car is lost when it turns, so its forward route needs to be obtained by accurate calculation. It is necessary to analyze the structure of the trolley, consider the processing technology and cost of the trolley comprehensively, and make the product design reasonable. At the time of design, it is necessary to reduce the quality of the whole vehicle as far as possible, and analyze the force of the car to ensure that it has been driven. The movement was smooth during the journey.

According to the problem requirements, the overall design scheme of the S-ring obstacle avoidance car is proposed, and the structure design of the S-ring obstacle avoidance car is completed through the calculation and analysis. Through the function analysis of the car, the car needs to complete the automatic avoidance of the obstacle. Drive oneself to walk, gravity potential energy conversion function. So we divided the design of the car into the following parts, path selection, automatic steering device, energy conversion device and frame part. In motion, the trajectory of the car is simplified as a cosine curve image. The magnitude of the cosine curve is calculated by the transmission ratio of the car and the length of the crank of the steering device, and the cart is placed at the amplitude. Direction of obstacle The Y axis is fixed, the X axis is perpendicular to the Y axis on the horizontal plane, and the trajectory of the trolley is drawn. The obstacle can be located in the trajectory diagram, and the starting point of the car is taken as the starting point of the car by measuring the magnitude value of the Y axis and the starting point of the cart at this time. The assembly drawing and some main parts drawings are drawn, the predetermined function is verified by solidworks2016 simulation, and the entity prototype is made, and the specified function is achieved through the demonstration of the entity prototype.

Key words: s ring; obstacle avoidance car; carbon free car; mechanical design