毕业论文
小型清洁机器人行走机
构
目 录
1引言·················································3
1.1 论文背景、意义及要求··································3 1.2 国外、国内研究概况································4 1.3 市场需求预测···································6 1.4 设计的重点与难点·································6
2 机器人行走机构的设计································7
2.1空调管道系统介绍及清洗原理··························· ·7 2.2 机器人移动载体方案设计······························8
2.2.1 总体方案设计··································8 2.2.2 传动方案的设计·································9 2.3张紧机构的设计···································11
3. 具体设计计算··································12
3.1 移动载体传动计算·································12
3.1.1
左
右
驱
动
轮
传
动
计
算·······························12
3.1.2
后
万
向
轮
传
动
计
算···································20
3.2
张
紧
启
动
系
统
的
设
计
计
算····································24
3.2.1气缸的选择·····································24 3.2.2
启动辅助元件和回路的选择设
计·······························26
3.3
传
动
齿
轮
﹑
蜗
轮
蜗
杆
的
尺
寸
计
算··························· 27
3.4
轴
的
设
计
﹑
计
算
和
校
核··································27
3.5 轴承的寿命计算·······································32
4 机器人转弯时的管道通过性分析···························33
4.1 管道机器人在水平直角弯管的通过性分析··························33
4.2 管道机器人在矩形管水平圆弧形弯头的通过性分析······················ 35
5 结构设计···············································36
1 引言
1.1 论文背景、意义及要求
清洁机器人作为服务机器人领域中的一个新产品,尽管目前国内在这方面的研究开发方面已经取得一定的成果, 但是仍有许多关键技术问题需要解决或提高, 行走机构就是其中的一个比较重要的技术。有的可在房间内随机移动,但要求有一定的动力和对地面有足够大的摩擦。事实上,虽然有一些公司推出了一些样品或产品,但却不能达到满意程度:清洁效果不佳,遍历时间长。随着当今社会的发展,空调通风系统在日常生活中发挥着越来越重要的作用。中央空调系统主宰着楼宇中空气的新陈代谢,被称为“建筑物之肺”。中央空调管道在长期使用中会积累许多灰尘、病菌及放射物等,这些有害物质在送风过程中便污染了空气,长期被人体吸入,就会危害大众的健康。因此人们在迫切要求提高生活质量的同时,要求提高工作居住场所及其他公共场所环境质量(特别是空气质量)的呼声也越来越急切。