机电毕业设计爬壁机器人.doc

大学学士学位论文 PAGE PAGE 2 摘 要 本毕业设计的课题来源于“2006年大学生过程装备实践与创新大赛”的参赛参考题目，主要任务是设计在役钢制压力容器外壁面检测用爬壁机器人的本体结构及其控制系统。 本文在详述国内外爬壁机器人研究现状的基础上，对履带式爬壁机器人的本体结构进行了设计，对一些关键部分进行了设计计算。重点是爬壁机器人的移动机构、吸附机构和驱动系统的设计及校核。 本文设计的压力容器检测爬壁机器人采用履带式移动机构，双履带构成爬壁机器人的基本框架；采用永磁吸附方式，将永磁片贴在履带的外表面，可提供足够大的吸附力，结构简单；采用前轮驱动，两个驱动轮分别由电机驱动，当两电动机转速一致时，机器人沿直线行走，当两电动机差速时，可实现爬壁机器人整体转弯。 本文对爬壁机器人的吸附机构，移动机构等进行了设计计算，特别是对转弯阻力矩进行了分析计算。经过校核，在一定条件下，该爬壁机器人能够完成对压力容器壁面的巡检。 关键词：爬壁机器人；本体结构；移动机构；吸附机构 Abstract The task of the graduation design comes from “The practice and innovation contest about process equipment of undergraduate in 2006”. In the base of summarizing the study status on the climbing robot inside and outside, the main structure of the climbing robot with pedrails is designed, and the designing calculations of key partments are carried on.. Especially, the designing and proofreading of moving mechanical，the absorbing mechanical of the pedrails and the driving system are designed and checked. The pedrails moving system are chosen as the moving mechanical of the climbing robot for pressure vessel. This system buildup the basis frame class of the robot. Magnet, which can offer adsorbability enough to keep the robot working on the vertical walls, is kept close to the outside surface of the pedrails. Front-wheel driving is adopted as the driving system and the two front-wheel are drived by two elctromotors, respectively. When the two motors are running with the same direction, the robot walks straightly. When the two motors are running with the contrary velocity, the robot can swerve. In the paper, the absorbing mechanical and the moving organization are designed and calculated, especially for the swerve resistance moment. After calculation and checking, the robot can work normally and detect the surfaces with welding lines if there is no unexpected condition. Keywords: Climbing　robot；Main structure；Walking　 mechannical； Adsorbing　 mechannical 目 录 TOC \o 1-3 \h \z 摘 要 I Abstract II 1 绪 论 1