摘要随着社会的发展，科技成果也在飞速发展中，在现代城市中，处处高楼林立，对于高楼的清洁成了主要的问题。本课题主要研究的是如何在解放人类劳力的前提下，对以玻璃，瓷砖为主要墙体的高楼进行清洗，因此设计了一种集移动、转向和越障功能于一体的全方位移动的壁面爬行机器人，并对爬壁机器人的结构设计以及控制系统等关键技术展开了研究。46492
论文首先介绍了壁面爬行机器人的背景及在国内外的发展现状和应用情况，通过阅读大量的文献和借鉴已有的类似成果，理论联系实际，提出了机器人本体的机械结构方案。介绍了本高空清洁机器人的总体结构和各部件及方案的选择，并在此基础上进行了机器人的机械结构设计计算，主要包括电机的计算选择，吸盘的选择，气缸、气泵的选择和传感器的作用及选择等。
分析表明，这种机器人既能够通过吸盘在垂直壁面上进行运动，还具有越障能力强、负载大的优点，对于高层的壁面清洗有显著的优势，具有一定能够的理论意义和使用价值。
毕业论文关键词：爬壁机器人 越障 吸盘 清洁
Abstract
With the development of society, science and technology is also in the rapid development , in the modern cities, tall buildings were built everywhere, the cleaning of tall buildings has become a major problem.In this paper, we mainly study how to clean the tall buildings with glass and ceramic tile as the main material under the premise of the liberation of human labor,so we designed a robot which set moving, steering and obstacle navigation function,and it can move all directions, the key technologies of wall climbing robot's structure design and control system are studied.
This paper introduces the background of the wall climbing robot and its development status and application at home and abroad firstly.Through reading a lot of literature and drawing lessons from the existing similar achievements, theory with practice, the scheme of mechanical structure of the robot body is proposed.This paper introduced the overall structure of the high altitude cleaning robot, the selection of its components and scheme. On the basis of this ,the design and calculation of the mechanical structure of the robot. Mainly including calculation and selection of electric motors,the selection of sucker,the selection of cylinder and pump and the role and selection of sensors,etc.
Analysis shows that the robot can motion in the vertical wall by the suction cups, also has the strong ability of obstacle surmounting, the advantages of large load, it has significant advantages to wash the top wall,also has certain to theoretical significance and use value.
Key word：wall climb robot obstacle suction cups cleaning
目 录
第一章 绪论 1
1.1背景 1
1.2国、内外研究现状 1
1.3主要技术要求 2
第二章 系统总体设计 4
2.1机器人吸附方式 4
2.2机器人移动方式 4
2.3系统总体方案及选择 5
第三章 机械结构设计与选型 7
3.1机械结构设计 7
3.2电动机及相应驱动器的选择 7
3.2.1足部吸盘旋转电机的选择 7
3.2.2腿部电机的选择 9
3.2.3清洁电机的选择 10
3.3电磁吸盘的选择 11
3.4轴的设计 12
3.5气缸与气泵的选择 12
3.6传感器的选择 13
3.7电池的选择 13
3.8联轴器的选择 14
第四章 控制系统设计 15 高空清洁机器人行走机构设计+CAD图纸:http://www.youerw.com/jixie/lunwen_48209.html