机械5

自动清扫机器人设计 摘要 清扫机器人是一种服务机器人，目前已得到使用，我国的很多高校和机构也对其进行了研究设计。清扫机器人的市场必将会受到青睐。 本文设计的自动清扫机器人的主要部件有步进电机、蜗轮蜗杆传动机构、清扫电机、驱动轮和万向轮。步进电机驱动蜗杆，蜗杆两端连接蜗轮，两个蜗轮分别连接皮带轮，皮带轮上的轴连接刷子，从而实现清扫。 本文的主要内容包括： 1）介绍了自动清扫机器人的研究现状，研究的目的意义，设计的重难点。 2）自动清扫机器人的总体方案设计和各部分方案的设计包括外形设计、行走机构设计、清扫机构设计、垃圾收集处理机构设计。介绍了自动清扫机器人的关键技术。 3）自动清扫机器人的结构设计包括选择直流电机、蜗轮蜗杆、清扫机构的电机、电池、清扫轴等，对涡轮轴蜗杆上的轴承进行校核。 4）自动清扫机器人控制部分介绍包括软件设计和硬件设计。 通过参考相关的设计手册，本文设计的自动清洁机器人可以满足设计要求。 关键词：清扫机器人；步进电机；蜗轮蜗杆机构；清洁方式 ABSTRACT Clea
ni
ng robot is a ki
nd of service robot which has bee
n used at prese
nt. Ma
ny u
niversities a
nd i
nstitutio
ns i
n our cou
ntry have also studied a
nd desig
ned it. The market for clea
ni
ng robots will certai
nly be popular. The mai
n parts of the automatic clea
ni
ng robot desig
ned i
n this paper i
nclude steppi
ng motor, worm gear tra
nsmissio
n mecha
nism, clea
ni
ng motor, drivi
ng wheel a
nd u
niversal wheel. The step motor drives the worm, a
nd the worm wheel is co
n
nected at both e
nds. The two worm wheels are co
n
nected to the pulley, a
nd the shaft o
n the pulley is co
n
nected with the brush to realize the clea
ni
ng. The mai
n co
nte
nts of this paper i
nclude: 1) i
ntroduced the research status of automatic clea
ni
ng robot, the purpose of the research, a
nd the key poi
nts of desig
n. 2) the overall scheme desig
n of the robot clea
ni
ng robot a
nd the desig
n of each part of the pla
n i
nclude the desig
n of the shape, the desig
n of the walki
ng mecha
nism, the desig
n of the clea
ni
ng mecha
nism, a
nd the desig
n of the garbage collectio
n a
nd processi
ng mecha
nism. The key tech
nology of automatic clea
ni
ng robot is i
ntroduced. 3) the structure desig
n of the automatic clea
ni
ng robot i
ncludes the selectio
n of dc motor, worm a
nd worm gear, the motor of the clea
ni
ng mecha
nism, the battery, the clea
ni
ng shaft, etc., to check the beari
ng o
n the turboshaft worm shaft. 4) the robot co
ntrol part i
ntroductio
n i
ncludes software desig
n a
nd hardware desig
n. By referri
ng to the releva
nt desig
n ma
nual, the automatic clea
ni
ng robot desig
ned i
n this paper ca
n meet the desig
n requireme
nts. Key words: clea
ni
ng robot; Steppi
ng motor; Worm a
nd gear mecha
nism; Clea
ni
ng way. 目录 摘要I ABSTRACT Ⅱ 1绪论1 1.1课题设计背景和题目要求1 1.2自动清扫机器人的研究现状2 1.3研究的目的和意义8 1.4设计的重点和难点8 2自动清扫机器人的方案设计9 2.1自动清扫机器人的总体方案9 2.2自动清扫机器人的关键技术11 2.3自动清扫机器人各部分方案设计12 3自动清扫机器人的结构设计17 3.1直流电机选择17 3.2蜗轮蜗杆的选择17 3.3清扫机构电机的选择19 3.4自动清扫机器人电池的选用19 3.5清扫机构中蜗杆上轴承强度校核.20 3.6清扫机构中涡轮轴的校核22 3.7带传动设计23 3.8清扫轴的基本参数计算25 4自动清扫机器人控制部分介绍27 4.2自动清扫机器人的硬件设计27 4.2自动清扫机器人的软件设计27 5结论29 参考文献30 附录1：外文译文31 附录2：外文原文38 致谢42