爬壁清洗機(jī)器人畢業(yè)設(shè)計(jì)

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1、爬壁清洗機(jī)器人畢業(yè)設(shè)計(jì)爬壁清洗機(jī)器人設(shè)計(jì)?I?摘要高層建筑清洗爬壁機(jī)器人可在垂直壁面及屋頂移動進(jìn)行物體表面的清洗,本文設(shè)計(jì)了機(jī)器人爬壁系統(tǒng)由移動系統(tǒng)和吸附系統(tǒng)組成。移動吸附系統(tǒng)由十字框架結(jié)構(gòu)和真空吸附結(jié)構(gòu)組成,使機(jī)器人靈活移動,避障能力強(qiáng)。機(jī)器人主體部分由可以相互平移的兩個(gè)呈十字型組合的無桿氣缸,其中任意一個(gè)無桿氣缸可以相對另一個(gè)進(jìn)行平移,每個(gè)無桿氣缸通過腿部支架可獨(dú)立控制腿足結(jié)構(gòu)。腿足結(jié)構(gòu)是由拉桿氣缸和一組真空吸盤組成。隨著腿部的交替吸附和框架主體的相對運(yùn)動,機(jī)器人實(shí)現(xiàn)壁面自由移動的功能。驅(qū)動方式由X方向和Y方向兩個(gè)相互垂直的機(jī)構(gòu)組成,分別選用一個(gè)雙作用無桿氣

2、缸,安置在中間的主體支架上,真空吸盤組采用正三角排列和使用氣動的驅(qū)動方式?？刂葡到y(tǒng)是清洗爬壁機(jī)器人的關(guān)鍵部分,采用三菱公司的PLC?FX1N系列完成對機(jī)器人主體的吸盤脫離、本體移動、吸盤吸附和清洗的控制。關(guān)鍵詞:雙作用拉桿氣缸,十字架構(gòu),無桿氣缸,PLC爬壁清洗機(jī)器人設(shè)計(jì)?II?Abstract?High?rise?buildings?cleaning?climbing?robot?can?be?in?vertical?wall?and?roof?movement?in?the?object?surface?cleaning,?this?paper?design

3、ed?the?climbing?robot?system?by?mobile?system?and?adsorption?systemsMobile?adsorption?system?by?the?frame?structure?and?vacuum?adsorption?structure,?make?flexible?mobile?robot,?obstacle?avoidance?ability.?Robot?main?body?part?can?be?of?mutual?translation?by?a?combination?of?the?two?f

4、our?arm?pneumatic?rodless?cylinders,?including?any?a?pneumatic?rodless?cylinders?can?relative?another?translation,?each?pneumatic?rodless?cylinders?through?the?legs?stent?independent?control?leg?foot?structure.?Leg?foot?structure?is?by?tie?rods?and?a?group?of?cylinder?of?vacuum?cups.

5、?As?the?legs?of?alternating?the?adsorption?and?the?relative?motion?of?the?main?frame,?robot?wall?free?movement?function?realizationDriving?way?X?and?Y?directions?direction?by?two?perpendicular?institutions,?a?double?role?are?chosen?pneumatic?rodless?cylinders?and?placed?in?the?middle

6、?of?the?main?body?on?the?support,?vacuum?cups?group?I?arrangement,?and?use?the?pneumatic?drive?mode.?Control?system?is?climbing?robot?cleaning?the?key?part,?USES?the?mitsubishi?company?PLC?FX1N?series?of?of?the?main?body?of?the?robot?complete?suckers,?its?mobile,?chuck?from?adsorptio

7、n?and?cleaning?of?controlKeywords:?dual?action?bars?cylinder,?the?architecture,?pneumatic?rodless?cylinders,?PLC爬壁清洗機(jī)器人設(shè)計(jì)?III?目錄1緒論1.1選題背景及其意義1.2文獻(xiàn)綜述(國內(nèi)外研究現(xiàn)狀與發(fā)展趨勢)1.3研究內(nèi)容1.4研究方案1.5本章小結(jié)2爬壁清洗機(jī)器人總體結(jié)構(gòu)設(shè)計(jì)2.1爬壁清洗機(jī)器人的材料選擇2.2機(jī)器人總體結(jié)構(gòu)介紹2.3移動鋁板的設(shè)計(jì)與校核2.4吸盤直徑的選取2.5電動機(jī)的選取2.6聯(lián)軸器的選取2.7軸承的校核2.8滾動軸承壽命的

8、計(jì)算2.9軸的計(jì)算2.1