高樓清洗機(jī)機(jī)電系統(tǒng)設(shè)計(jì)說(shuō)明書.doc

黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì)本科學(xué)生畢業(yè)設(shè)計(jì)高樓清洗機(jī)機(jī)電系統(tǒng)設(shè)計(jì)系部名稱：機(jī)電工程學(xué)院專業(yè)班級(jí)：機(jī)械設(shè)計(jì)制造及其自動(dòng)化08-12學(xué)生姓名：指導(dǎo)教師：職稱：講師黑龍江工程學(xué)院二一二年六月黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì)TheGraduationDesignforBachelorsDegreeDesignofMechanicalandElectricalSystemoftheWashingMachineCandidate：JinPengSpecialty：MechanicalDesignandManufacturing&AutomationClass：08-12Supervisor：Lecturer.GuoShaowenHeilongjiangInstituteofTechnology2012-06Harbin黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì)摘要近年來(lái)，隨著社會(huì)的發(fā)展，樓層越來(lái)越高，使用玻璃幕墻的樓房也越來(lái)越多，避免清洗時(shí)一個(gè)很重要的問(wèn)題，傳統(tǒng)的方式多數(shù)為人工，或者是采用電纜從樓頂將機(jī)器人吊下，工作效率偏低，危險(xiǎn)性高，于是清洗用爬壁機(jī)器人應(yīng)運(yùn)而生，本文的任務(wù)就是設(shè)計(jì)一種能夠在壁面上吸附行走的清洗機(jī)器人。本文在簡(jiǎn)單介紹清洗機(jī)器人的國(guó)內(nèi)外研究現(xiàn)狀的基礎(chǔ)上，基于二維軟件CAD對(duì)四輪式風(fēng)壓吸附清洗機(jī)器人的本體機(jī)構(gòu)進(jìn)行了設(shè)計(jì)，對(duì)一些關(guān)鍵部分進(jìn)行了設(shè)計(jì)計(jì)算及校核計(jì)算，重點(diǎn)是爬壁機(jī)器人的移動(dòng)結(jié)構(gòu)、吸附結(jié)構(gòu)和驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)計(jì)算。本文設(shè)計(jì)的清洗機(jī)器人采用四輪式小車形狀結(jié)構(gòu)，結(jié)構(gòu)簡(jiǎn)單；采用風(fēng)壓吸附方式，利用螺旋槳對(duì)空氣的壓縮所產(chǎn)生的壓力將機(jī)器人壓在物體表面，避免了清晰機(jī)器人對(duì)壁面的局限，降低了控制難度；清洗機(jī)主要由伺服懸吊系統(tǒng)、清洗主機(jī)和由計(jì)算機(jī)控制系統(tǒng)組成；采用無(wú)人化清洗，自動(dòng)清洗，自動(dòng)供水，自動(dòng)供清洗液，單片機(jī)系統(tǒng)控制，操作人員只需通過(guò)鍵盤即可操縱清洗機(jī)工作，而且在清洗過(guò)程中，清洗機(jī)能夠自動(dòng)進(jìn)行邊緣識(shí)別，可根據(jù)建筑樓層的具體情況選擇為縱洗或橫洗；采用后輪驅(qū)動(dòng)，一個(gè)電機(jī)驅(qū)動(dòng)兩個(gè)后輪，后輪帶動(dòng)前輪完成機(jī)器人的行走，使用直齒圓柱齒輪傳動(dòng)裝置作為減速器；采用樓頂供電；機(jī)器人可以在水平面或者垂直表面直線行走。本機(jī)的清洗效率較高，清洗效果良好。關(guān)鍵詞：清洗機(jī)器人；減速器設(shè)計(jì)；風(fēng)壓吸附；單片機(jī)控制；齒輪機(jī)構(gòu)；電機(jī)控制；刷洗；黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì)ABSTRACTInrecentyears,withthedevelopmentofsociety,moreandmorefloors,withglasscurtainwallbuildingmoreandmoretoavoidcleaningaveryimportantissue,mostofthetraditionalwayofartificial,oracablefromthetopofthebuildingwillbeusedundertheroboticcrane,lowefficiency,high-risk,thencleanedwithawall-climbingrobotcameintobeing,thistaskistodesignawalkontheadsorptiontothewallclimbingrobotforcleaning.Thispaperbrieflywall-climbingrobotbasedontheresearchstatus,basedon2Dsoftware,CAD,four-wheelvacuumonwall-climbingrobotbodybodiesweredesigned,carriedoutonsomekeysatisfiedwiththedesigncalculationandcheckingterms,focusingonthemobileclimbingrobotstructure,adsorptionstructureanddrivesystemdesignandcalculation.Thisdesignedwall-climbingrobotcarwithfour-wheel-typeshapeofthestructure,simplestructure；Bypressureadsorption,robotusingthepressuregeneratedbythepropelleronthecompressedairpressureinthesurface,avoidingtheclearlimitationsoftherobotonthewall,reducingthedifficultyofcontrol；Washingmachineissuspendedbyaservosystem,cleaninghostandconsistsofcomputercontrolsystem；Thecleaningoftheunmanned,automaticcleaning,automaticwatersupplyforautomaticwashingliquid,singlechipcontrolsystem,operatingonlythroughthekeyboardtomanipulatetheworkofthewashingmachineinthecleaningprocess,thewashingmachinetoautomaticedgerecognition,accordingtothebuildingfloorwashforverticalorhorizontalwash；Rear-wheeldrive,amotortodrivethetworearwheels,rearwheeldrivethefrontwheelstocompletetherobottowalk,useofthespurgeartransmissiondeviceasreducer；Roofsupply；robotwalkastraightlinecanbehorizontalorverticalsurface.Thehigherthecleaningefficiencyo