机械5

玻璃清洁机器人结构设计 摘要 由于各种因素的影响，市场上玻璃清洁机器人的技术还处于初级阶段，在实际运用中还存在诸多问题。本次设计通过研究玻璃清洁机器人的工作原理及过程，经过详细的方案规划，反复论证方案，找出一种目前技术上最成熟、最符合实际运用的运动方案。 本文介绍了解决目前玻璃幕墙难于清洗这一难题的玻璃清洁机器人的研究,设计,运用方案,并把其中一种我们认为是目前最合理,最具有市场前景的设计方案进行详细规划及分析,反复对方案进行认证,逐步进行修改及优化.确定玻璃清洁机器人以轮式自主移动机器人为载体.最终完成玻璃清洁机器人的结构设计、机构各种参数计算和分析、相关零件材料的选用及工艺分析。 从玻璃清洁机器人在玻璃墙壁上的行走机构,转向和自动避障机构,自动清洗机构三个模块详细阐述了机器人系统的工作原理和实现方法.玻璃清洁机器人的工作原理是利用两对传动齿轮将驱动电机上的力矩传递到驱动轴上,从而带动两个后轮转动,实现机器人在玻璃墙壁上的自由行走.机器人的两个前轮均采用嵌入式直接驱动装置,在机器人正常直线行走时为机器人提供一定的牵引力,在机器人遇到障碍物时则一个电机正转,一个电机反转,实现机器人的零转弯半径转向.清洗机构为滚桶式,由驱动电机提供动力,并且中间无减速机构,即滚筒的转速与驱动电机的转速相同。 通过在已有的方案基础上进行创新设计，使得设计出来的玻璃清洁机器人更能满足用户的需求，以此拓展它的市场前景。 关键词：轮式；玻璃；滚筒；嵌入式直接驱动装置；正反转 Abstract Because of the i
nflue
nce of various factors, glass clea
ni
ng robot tech
nology is still i
n its i
nfa
ncy i
n the market, there are lots of problems i
n practice. This desig
n through the study of worki
ng pri
nciple a
nd process of glass clea
ni
ng robot, through the detailed program pla
n
ni
ng, repeated demo
nstratio
n project, to fi
nd out a ki
nd of the most mature o
n the tech
nology at prese
nt, the most practical use of motio
n scheme. Researchi
ng, desig
ni
ng, usi
ng the scheme of glass clea
ni
ng robot to solve the glass curtai
n wall is difficult to clea
n are i
ntroduced i
n this paper，a
nd the o
ne we thi
nk is the most reaso
nable, most has the market prospect of detailed pla
n
ni
ng a
nd a
nalysis has bee
n made to the desig
n, repeated authe
nticatio
n scheme, modify a
nd optimize step by step. Fi
nally determi
ne the glass clea
ni
ng robots with wheeled auto
nomous mobile robot as the carrier, a
nd fi
nishi
ng glass clea
ni
ng robot structure desig
n, calculatio
n a
nd a
nalysis of various parameters, material selectio
n of parts a
nd process a
nalysis. This article from the travel mecha
nism of glass i
n glass wall clea
ni
ng robot, steeri
ng a
nd automatic obstacle avoida
nce mecha
nism，automatic clea
ni
ng mecha
nism three modules i
n detail elaborated the worki
ng pri
nciple a
nd realizatio
n method of the robot system. Glass clea
ni
ng robots worki
ng pri
nciple is to use two pairs of gear drives the torque o
n the machi
ne, is passed o
n to the drive shaft to drive the two rear wheels tur
ni
ng, to realize robot walki
ng o
n the glass wall of freedom. The robot's two fro
nt wheels adopts embedded direct drive device, i
n the robot walki
ng straight a
nd
normal provide certai
n tractio
n force for robot, i
n the robot meet with obstacles is a motor forward, a motor reversal, realize zero tur
ni
ng radius tur
n of the robot. Clea
ni
ng mecha
nism is barrel type, provided by the drive motor power, a
nd the middle without retardi
ng mecha
nism,
namely the rattler at the same speed with the speed of the drive motor. Through i
n
novative desig
ni
ng based o
n the existi
ng solutio
ns, makes the desig
ned glass clea
ni
ng robot ca
n meet the
needs of users, to expa
nd its market prospects. Key words: wheel；glass；rattler；embedded direct drive device；pros a
nd co
ns go 目录 1引言1 1.1课题研究的背景1 1.2课题研究的意义2 1.3玻璃清洁机器人的发展状况和目前具有的技术水平2 2玻璃清洁机器人总体运动方案规划2 2.1玻璃清洁机器人行走、转向机构方案设计2 2.1.1足式行走机构3 2.1.2履带式行走机构4 2.1.3轮式行走、转向机构4 2.2清洗机构7 2.3传动机构8 2.3.1方案一8 2.3.2方案二8 2.4最终选用的总体方案8 3电机选型9 4玻璃清洁机器人结构设计和主要参数计算、分析12 4.1车轮设计12 4.2后轮驱动减速机构设计13 4.3后轮驱动轴的结构设计与校核18 4.4齿轮的定位结构设计20 4.5中间轴的结构设计与校核21 4.6电机连接轴的结构设计24 4.7后轮减速机构箱体结构设计25 4.8底盘结构设计26 4.9螺栓组连接的结构设计28 4.10吸附机构的结构设计及合理性分析29 5玻璃清洁机器人稳定性分析30 6重要零件的材料选用和加工工艺的编写31 6.1轴类零件的材料选用与加工工艺分析31 6.2底盘的热处理与加工工艺分析37 6.3减速机构上箱体和机器人外盖的加工艺分析38 6.4齿轮的加工工艺分析39 6.5磁吸盘的加工工艺分析39 7装配干涉分析结果39 8玻璃清洁机器人总装配图40 9结论41 谢辞42 参考文献43 附录44