自攀爬机器人运动机构设计（本科毕业论文设计）.doc
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自攀爬机器人运动机构设计（本科毕业论文设计）,摘要机器人是传统的机构学与现代电子自动化技术相结合的产物，是计算机科学、控制论、机械学、电子技术等多学科综合性的高科技产物，是典型的机电一体化产品。它是一种仿人操作，可使用于各种复杂环境。机器人技术的出现和发展，不但可以部分取代人完成各种恶劣环境下的工作，而且将对人类社会产生深远的影响。壁面清洗机器人是极限作业机器人的...
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摘 要
机器人是传统的机构学与现代电子自动化技术相结合的产物，是计算机科学、控制论、机械学、电子技术等多学科综合性的高科技产物，是典型的机电一体化产品。它是一种仿人操作，可使用于各种复杂环境。机器人技术的出现和发展，不但可以部分取代人完成各种恶劣环境下的工作，而且将对人类社会产生深远的影响。
壁面清洗机器人是极限作业机器人的一个分支，其目的是代替人类，在核工业、石化企业、建筑行业、消防部门、造船等领域中的危险状态下作业，具有极其广泛的用途和很高的使用价值。自从二十世纪六十年代出现以来，受到人们的广泛关注。本文所研究的壁面清洗机器人是用于对光滑的建筑壁面进行清洗的爬行机器人，具有一定实用价值和应用前景。
本文首先介绍了国内外壁面清洗机器人研究现状，阐明了本课题研究的目的、意义。针对壁面作业的特殊情况，提出了一种真空式吸附、框架结构的壁面清洗机器人系统。该机器人采用真空发生器产生真空吸附力，由地面空压机产生高压空气推动机器人本体上的气缸实现机器人的平面运动以及腿部的伸缩运动。机器人本体上装有清洗装置，它可以对机器人经过的路径进行清洗。该机器人具有自动和手动两种操作方式，操作简单方便，工作效率高。可以把人从危险的高空极限作业中解脱出来。
壁面清洗机器人的安全吸附和灵活移动是保证高效率清洗的前提条件。为此本文重点进行了机器人的本体结构设计和气路设计，提出了可以相对转动和平动的上下两层的框架结构，解决了灵活移动问题；为了保证可靠吸附，支撑上下框架的腿部安装有真空吸盘，吸盘内部装有压力传感器，当吸附不牢固时另外一组吸盘就不会脱离吸附壁面。对控制系统设计，立足于操作方便、能实现自动和手动两种工作模式，本文采用了编程简便、工作可靠、有良好的人机界面的可编程控制器（PLC）。另外还进行了吸附可靠性计算、动力学分析等一系列设计计算。该种机器人结构简单新颖、控制方便、擦洗效率高。
关键词： 壁面清洗机器人，真空吸附，可编程控制器
ABSTRACT
Robot is a product of traditional mechanism and modern electronic automatization technology, and it is a synthetic high technology result of many subjects such as computer science, cybernetics, mechanics, information science and electronic. It is a typical product of mechatronics. It is the automatic equipment which can imitate the action of mankind, it is precise and suitable for many kinds of complicated environment. The appearance and development of robot technology will not only replace man to do works that under terrible conditions, but also bring profound influence to the life of human society.
A wall-cleaning robot is of robots for limited operation, aiming to take the place of
human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide
application and high practical value. Wall-cleaning robots have greatly provoked word wide attention ever since it was born in the 1960s. A wall-cleaning robot discussed in this thesis is the robot that sweeps slick vertical wall, It has some practical value and applicable foreground.
The article first introduced the domestic and overseas research situation of wall-cleaning robot, and expounded this articles’ research goal and the significance. Aim at the special circumstance, one type of wall-cleaning robot was proposed, this type of robot adopts vacuum suction cup、frame structure. This robot uses the vacuum generator to gain adsorb power. The compressed air produced by compressor on the ground can drive the cylinder to get plane motion and extend or contraction motion of the legs. A cleaning head was fixed on the robot body. It can clean the area around the moving route of robot. The robot has automatic and manual operating mode. The operation is simple and convenient. The robot’s working efficiency is very high. It can extricate the person from the dangerous work.
The safe adsorption and the agile motion of wall-cleaning robot are the guarantee of high efficiency. For this, the robot body structural design and air circuit design was emphasized in this article. A type of frame configuration was proposed, it can rotate and move relatively, the request of agile motion was satisfied. For the safe adsorption, several vacuum suction cups were fixed on the leg of two frames. There are pressure sensor in suction cup, robot can’t move when one group of suction cups’ attraction is not enough large. The control system design based on the ease of operation and can realize automatic or the manual two kind of work mode. The robot in this article employs the programmable controller, it programming easily, work reliably, and has a good man-machine contact surface. Moreover we also have carried on a series of design calculation include the adsorption reliability computation and dynamics analysis. This robot has a simple novel configuration, a convenient control and high efficiency cleaning.
Keywords: wall-cleaning robot, vacuum suction, the programmable controller
目 录
摘 要 I
ABSTRACT II
1 绪论 1
1.1 引言 1
1.2 课题目的及意义 2
1.3 国内外的研究现状 3
1.3.1 国外研究现状 3
1.3.2 国内研究现状 6
1.4 本章小结 9
2 本次设计任务 11
2.1 设计要求..
机器人是传统的机构学与现代电子自动化技术相结合的产物，是计算机科学、控制论、机械学、电子技术等多学科综合性的高科技产物，是典型的机电一体化产品。它是一种仿人操作，可使用于各种复杂环境。机器人技术的出现和发展，不但可以部分取代人完成各种恶劣环境下的工作，而且将对人类社会产生深远的影响。
壁面清洗机器人是极限作业机器人的一个分支，其目的是代替人类，在核工业、石化企业、建筑行业、消防部门、造船等领域中的危险状态下作业，具有极其广泛的用途和很高的使用价值。自从二十世纪六十年代出现以来，受到人们的广泛关注。本文所研究的壁面清洗机器人是用于对光滑的建筑壁面进行清洗的爬行机器人，具有一定实用价值和应用前景。
本文首先介绍了国内外壁面清洗机器人研究现状，阐明了本课题研究的目的、意义。针对壁面作业的特殊情况，提出了一种真空式吸附、框架结构的壁面清洗机器人系统。该机器人采用真空发生器产生真空吸附力，由地面空压机产生高压空气推动机器人本体上的气缸实现机器人的平面运动以及腿部的伸缩运动。机器人本体上装有清洗装置，它可以对机器人经过的路径进行清洗。该机器人具有自动和手动两种操作方式，操作简单方便，工作效率高。可以把人从危险的高空极限作业中解脱出来。
壁面清洗机器人的安全吸附和灵活移动是保证高效率清洗的前提条件。为此本文重点进行了机器人的本体结构设计和气路设计，提出了可以相对转动和平动的上下两层的框架结构，解决了灵活移动问题；为了保证可靠吸附，支撑上下框架的腿部安装有真空吸盘，吸盘内部装有压力传感器，当吸附不牢固时另外一组吸盘就不会脱离吸附壁面。对控制系统设计，立足于操作方便、能实现自动和手动两种工作模式，本文采用了编程简便、工作可靠、有良好的人机界面的可编程控制器（PLC）。另外还进行了吸附可靠性计算、动力学分析等一系列设计计算。该种机器人结构简单新颖、控制方便、擦洗效率高。
关键词： 壁面清洗机器人，真空吸附，可编程控制器
ABSTRACT
Robot is a product of traditional mechanism and modern electronic automatization technology, and it is a synthetic high technology result of many subjects such as computer science, cybernetics, mechanics, information science and electronic. It is a typical product of mechatronics. It is the automatic equipment which can imitate the action of mankind, it is precise and suitable for many kinds of complicated environment. The appearance and development of robot technology will not only replace man to do works that under terrible conditions, but also bring profound influence to the life of human society.
A wall-cleaning robot is of robots for limited operation, aiming to take the place of
human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide
application and high practical value. Wall-cleaning robots have greatly provoked word wide attention ever since it was born in the 1960s. A wall-cleaning robot discussed in this thesis is the robot that sweeps slick vertical wall, It has some practical value and applicable foreground.
The article first introduced the domestic and overseas research situation of wall-cleaning robot, and expounded this articles’ research goal and the significance. Aim at the special circumstance, one type of wall-cleaning robot was proposed, this type of robot adopts vacuum suction cup、frame structure. This robot uses the vacuum generator to gain adsorb power. The compressed air produced by compressor on the ground can drive the cylinder to get plane motion and extend or contraction motion of the legs. A cleaning head was fixed on the robot body. It can clean the area around the moving route of robot. The robot has automatic and manual operating mode. The operation is simple and convenient. The robot’s working efficiency is very high. It can extricate the person from the dangerous work.
The safe adsorption and the agile motion of wall-cleaning robot are the guarantee of high efficiency. For this, the robot body structural design and air circuit design was emphasized in this article. A type of frame configuration was proposed, it can rotate and move relatively, the request of agile motion was satisfied. For the safe adsorption, several vacuum suction cups were fixed on the leg of two frames. There are pressure sensor in suction cup, robot can’t move when one group of suction cups’ attraction is not enough large. The control system design based on the ease of operation and can realize automatic or the manual two kind of work mode. The robot in this article employs the programmable controller, it programming easily, work reliably, and has a good man-machine contact surface. Moreover we also have carried on a series of design calculation include the adsorption reliability computation and dynamics analysis. This robot has a simple novel configuration, a convenient control and high efficiency cleaning.
Keywords: wall-cleaning robot, vacuum suction, the programmable controller
目 录
摘 要 I
ABSTRACT II
1 绪论 1
1.1 引言 1
1.2 课题目的及意义 2
1.3 国内外的研究现状 3
1.3.1 国外研究现状 3
1.3.2 国内研究现状 6
1.4 本章小结 9
2 本次设计任务 11
2.1 设计要求..
