爬壁机器人论文.doc

PAGE 2 摘要 PAGE 14 摘 要 近年来，随着社会的发展，楼层越来越高，使用玻璃幕墙的楼房也越来越多，避免清洗时一个很重要的问题，传统的方式多数为人工，或者是采用电缆从楼顶将机器人吊下，工作效率偏低，危险性高，于是清洗用爬壁机器人应运而生，本文的任务就是设计一种能够在壁面上吸附行走的清洗爬壁机器人。 本文在简单介绍爬壁机器人的国内外研究现状的基础上，基于三维软件PROE对四轮式真空吸附爬壁机器人的本体机构进行了设计，对一些关键部分进行了设计计算及校核计算，重点是爬壁机器人的移动结构、吸附结构和驱动系统的设计计算。 本文设计的爬壁机器人采用四轮式小车形状结构，结构简单；采用真空吸盘吸附方式，设计一个月牙形的真空舱，利用机械结构完成机器人真空吸盘的吸附与排气控制，避免在每个真空吸盘配备传感器的需要，降低了控制难度；采用后轮驱动，一个电机驱动两个后轮，后轮带动前轮完成机器人的行走，使用蜗轮蜗杆传动装置作为减速器；采用地面供电，地面提供负压的方式；机器人可以在水平面或者垂直表面直线行走。 关键词：真空吸附 蜗轮蜗杆机构 电机驱动 四轮式小车 PAGE ii Abstract Abstract In recent years, with the development of society, more and more floors, with glass curtain wall building more and more to avoid cleaning a very important issue, most of the traditional way of artificial, or a cable from the top of the building will be used?under the robotic crane, low efficiency, high-risk, then cleaned with a wall-climbing robot came into being, this task is to design a walk on the adsorption to the wall climbing robot for cleaning.? This paper briefly wall-climbing robot based on the research status, based on three-dimensional software, PROE, four-wheel vacuum on wall-climbing robot body bodies were designed, carried out on some key satisfied with the design calculation and checking?terms, focusing on the mobile climbing robot structure, adsorption structure and drive system design and calculation.? This designed wall-climbing robot car with four-wheel-type shape of the structure, simple structure; by vacuum suction adsorption, design of a crescent-shaped vacuum chamber, the completion of the mechanical structure of robot vacuum suction of the adsorption and emission control, to avoid each?a vacuum suction cups equipped with sensors need to reduce the difficulty of control; with rear-wheel drive, a motor drive two rear wheels, rear wheel drive front wheel complete the robot walk, use a worm gear reducer; use of ground power?the ground to provide negative pressure means; robot can walk straig