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摘 要 由于各種因素的影響，市場(chǎng)上玻璃清潔機(jī)器人的技術(shù)還處于初級(jí)階段，在實(shí)際運(yùn) 用中還存在諸多問題。本次設(shè)計(jì)通過研究玻璃清潔機(jī)器人的工作原理及過程，經(jīng)過詳 細(xì)的方案規(guī)劃，反復(fù)論證方案，找出一種目前技術(shù)上最成熟、最符合實(shí)際運(yùn)用的運(yùn)動(dòng) 方案。 本設(shè)計(jì)介紹了解決目前玻璃幕墻難于清洗這一難題的玻璃清潔機(jī)器人的研究,設(shè)計(jì),運(yùn) 用方案,并把其中一種我們認(rèn)為是目前最合理,最具有市場(chǎng)前景的設(shè)計(jì)方案進(jìn)行詳細(xì)規(guī) 劃及分析,反復(fù)對(duì)方案進(jìn)行認(rèn)證,逐步進(jìn)行修改及優(yōu)化.確定玻璃清潔機(jī)器人以輪式自主 移動(dòng)機(jī)器人為載體.最終完成玻璃清潔機(jī)器人的結(jié)構(gòu)設(shè)計(jì)、機(jī)構(gòu)各種參數(shù)計(jì)算和分析、 相關(guān)零件材料的選用及工藝分析。 從玻璃清潔機(jī)器人在玻璃墻壁上的行走機(jī)構(gòu),轉(zhuǎn)向和自動(dòng)避障機(jī)構(gòu),自動(dòng)清洗機(jī)構(gòu) 三個(gè)模塊詳細(xì)闡述了機(jī)器人系統(tǒng)的工作原理和實(shí)現(xiàn)方法.玻璃清潔機(jī)器人的工作原理是 利用兩對(duì)傳動(dòng)齒輪將驅(qū)動(dòng)電機(jī)上的力矩傳遞到驅(qū)動(dòng)軸上,從而帶動(dòng)兩個(gè)后輪轉(zhuǎn)動(dòng),實(shí)現(xiàn) 機(jī)器人在玻璃墻壁上的自由行走.機(jī)器人的兩個(gè)前輪均采用嵌入式直接驅(qū)動(dòng)裝置,在機(jī) 器人正常直線行走時(shí)為機(jī)器人提供一定的牽引力,在機(jī)器人遇到障礙物時(shí)則一個(gè)電機(jī)正 轉(zhuǎn),一個(gè)電機(jī)反轉(zhuǎn),實(shí)現(xiàn)機(jī)器人的零轉(zhuǎn)彎半徑轉(zhuǎn)向.清洗機(jī)構(gòu)為滾桶式,由驅(qū)動(dòng)電機(jī)提供 動(dòng)力,并且中間無減速機(jī)構(gòu),即滾筒的轉(zhuǎn)速與驅(qū)動(dòng)電機(jī)的轉(zhuǎn)速相同。 通過在已有的方案基礎(chǔ)上進(jìn)行創(chuàng)新設(shè)計(jì)，使得設(shè)計(jì)出來的玻璃清潔機(jī)器人更能滿 足用戶的需求，以此拓展它的市場(chǎng)前景。 關(guān)鍵詞：輪式；玻璃；滾筒；嵌入式直接驅(qū)動(dòng)裝置；正反轉(zhuǎn) Abstract Because of the influence of various factors, glass cleaning robot technology is still in its infancy in the market, there are lots of problems in practice. This design through the study of working principle and process of glass cleaning robot, through the detailed program planning, repeated demonstration project, to find out a kind of the most mature on the technology at present, the most practical use of motion scheme. Researching, designing, using the scheme of glass cleaning robot to solve the glass curtain wall is difficult to clean are introduced in this paper，and the one we think is the most reasonable, most has the market prospect of detailed planning and analysis has been made to the design, repeated authentication scheme, modify and optimize step by step. Finally determine the glass cleaning robots with wheeled autonomous mobile robot as the carrier, and finishing glass cleaning robot structure design, calculation and analysis of various parameters, material selection of parts and process analysis. This article from the travel mechanism of glass in glass wall cleaning robot, steering and automatic obstacle avoidance mechanism，automatic cleaning mechanism three modules in detail elaborated the working principle and realization method of the robot system. Glass cleaning robots working principle is to use two pairs of gear drives the torque on the machine, is passed on to the drive shaft to drive the two rear wheels turning, to realize robot walking on the glass wall of freedom. The robots two front wheels adopts embedded direct drive device, in the robot walking straight and normal provide certain traction force for robot, in the robot meet with obstacles is a motor forward, a motor reversal, realize zero turning radius turn of the robot. Cleaning mechanism is barrel type, provided by the drive motor power, and the middle without retarding mechanism, namely the rattler at the same speed with the speed of the drive motor. Through innovative designing based on the existing solutions, makes the designed glass cleaning robot can meet the needs of users, to expand its market prospects. Key words: wheel；glass；rattler；embedded direct drive device；pros and cons go 目 錄 1 引言 ........................................................1 1.1 課題研究的背景 ........................................................1 1.2 課題研究的意義 ........................................................2 1.3 玻璃清潔機(jī)器人的發(fā)展?fàn)顩r和目前具有的技術(shù)水平 ..........................2 2 玻璃清潔機(jī)器人總體運(yùn)動(dòng)方案規(guī)劃 ..............................2 2.1 玻璃清潔機(jī)器人行走、轉(zhuǎn)向機(jī)構(gòu)方案設(shè)計(jì) ..................................2 2.1.1 足式行走機(jī)構(gòu).........................................................3 2.1.2 履帶式行走機(jī)構(gòu).......................................................4 2.1.3 輪式行走、轉(zhuǎn)向機(jī)構(gòu)...................................................4 2.2 清洗機(jī)構(gòu) ..............................................................7 2.3 傳動(dòng)機(jī)構(gòu) ..............................................................8 2.3.1 方案一...............................................................8 2.3.2 方案二...............................................................8 2.4 最終選用的總體方案 ....................................................8 3 電機(jī)選型 ....................................................9 4 玻璃清潔機(jī)器人結(jié)構(gòu)設(shè)計(jì)和主要參數(shù)計(jì)算、分析 .................12 4.1 車輪設(shè)計(jì) .............................................................12 4.2 后輪驅(qū)動(dòng)減速機(jī)構(gòu)設(shè)計(jì) .................................................13 4.3 后輪驅(qū)動(dòng)軸的結(jié)構(gòu)設(shè)計(jì)與校核 ...........................................18 4.4 齒輪的定位結(jié)構(gòu)設(shè)計(jì) ...................................................20 4.5 中間軸的結(jié)構(gòu)設(shè)計(jì)與校核 ...............................................21 4.6 電機(jī)連接軸的結(jié)構(gòu)設(shè)計(jì) .................................................24 4.7 后輪減速機(jī)構(gòu)箱體結(jié)構(gòu)設(shè)計(jì) .............................................25 4.8 底盤結(jié)構(gòu)設(shè)計(jì) .........................................................26 4.9 螺栓組連接的結(jié)構(gòu)設(shè)計(jì) .................................................28 4.10 吸附機(jī)構(gòu)的結(jié)構(gòu)設(shè)計(jì)及合理性分析 ......................................29 5 玻璃清潔機(jī)器人穩(wěn)定性分析 ...................................30 6 重要零件的材料選用和加工工藝的編寫 .........................31 6.1 軸類零件的材料選用與加工工藝分析 .....................................31 6.2 底盤的熱處理與加工工藝分析 ...........................................37 6.3 減速機(jī)構(gòu)上箱體和機(jī)器人外蓋的加工藝分析 ...............................38 6.4 齒輪的加工工藝分析 ...................................................39 6.5 磁吸盤的加工工藝分析 .................................................39 7 裝配干涉分析結(jié)果 ...........................................39 8 玻璃清潔機(jī)器人總裝配圖 .....................................40 9 結(jié)論 .......................................................41 謝 辭 ........................................................42 參考文獻(xiàn) ......................................................43 附 錄 ........................................................44