XX 大學(xué)本科畢業(yè)設(shè)計(jì)璃清潔機(jī)器人的設(shè)計(jì)I摘 要本文在簡單介紹玻璃清潔機(jī)器人的國內(nèi)外研究現(xiàn)狀的基礎(chǔ)上，基軟件 CAD 對四輪式風(fēng)壓吸附玻璃清潔機(jī)器人的本體機(jī)構(gòu)進(jìn)行了設(shè)計(jì)，對一些關(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。采用四輪式小車形狀結(jié)構(gòu)，結(jié)構(gòu)簡單；采用風(fēng)壓吸附方式，利用螺旋槳對空氣的壓縮所產(chǎn)生的壓力將機(jī)器人壓在物體玻璃，避免了清晰機(jī)器人對壁面的局限，降低了控制難度；擦洗機(jī)主要由伺服懸吊系統(tǒng)、擦洗主機(jī)和由計(jì)算機(jī)控制系統(tǒng)組成；采用無人化擦洗，自動(dòng)擦洗，自動(dòng)供水，自動(dòng)供擦洗液，單片機(jī)系統(tǒng)控制，操作人員只需通過鍵盤即可操縱擦洗機(jī)工作，而且在擦洗過程中，擦洗機(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玻璃直線行走。本機(jī)的擦洗效率較高，擦洗效果良好。關(guān)鍵詞：玻璃清潔機(jī)器人；風(fēng)壓吸附；齒輪機(jī)構(gòu)；刷洗；IIABSTRACTThis paper introduces the research status of glass cleaning robot, based on the CAD-based software for the four-wheel pressure adsorption glass cleaning robot body mechanism is designed, some of the key parts of the design calculations and checking calculation, the focus It is designed to move the structure, adsorption structure and drive system climbing robot calculations. Four-wheel-type car-shaped structure, the structure is simple; using adsorption pressure, the pressure of a propeller of air compression generated by the robot pressed glass objects, avoiding the limitations of the robot clear the wall, reducing the difficulty of control; scrubber mainly by the servo suspension system, scrub and host computer control system; the use of unmanned scrub, scrub automatic, automatic water supply, automatic solution for scrubbing, single-chip system control, the operator simply by manipulating the keyboard to work scrubbing machine, and in the process of scrubbing, scrubbing machines capable of automatic edge detection can be selected for the vertical or horizontal wash wash according to the specific circumstances of the building floor; rear-wheel drive, a motor driving the rear wheels, rear wheel drive complete robot walking, using a spur gear transmission as the reducer; using powered roof; the robot can walk in a straight line horizontal or vertical glass. High efficiency of the scrubbing machine, scrubbing to good effect.Keywords: Glass cleaning robot; adsorption pressure; gear mechanism; brushing;3目 錄摘 要 .......................................................................................................................................IABSTRACT.............................................................................................................................II第 1 章 緒論 ............................................................................................................................11.1 前 言 ..........................................................................................................................11.2 清潔設(shè)備的分類及工作原理 ....................................................................................21.2.1 按清潔方式分類 ..............................................................................................21.2.2 按發(fā)動(dòng)機(jī)形式分類 ..........................................................................................31.2.3 按除塵系統(tǒng)分類 ..............................................................................................31.3 清潔機(jī)械的國內(nèi)外發(fā)展?fàn)顩r及發(fā)展趨勢 ................................................................31.3.1 國外清潔機(jī)械的發(fā)展趨勢 ..............................................................................41.3.2 我國清潔機(jī)械的發(fā)展趨勢 ..............................................................................51.4 課題的研究設(shè)想 ........................................................................................................61.5 發(fā)現(xiàn)的問題和解決途徑 ............................................................................................61.6 課題需要完成的任務(wù) ................................................................................................71.6.1 設(shè)計(jì)主要內(nèi)容 ..................................................................................................71.6.2 設(shè)計(jì)工作基本要求 ..........................................................................................8第 2 章 玻璃清潔機(jī)器人總體方案設(shè)計(jì) ................................................................................92.1 清潔機(jī)器人的總體方案 ............................................................................................92.2 玻璃清潔機(jī)器人擦洗系統(tǒng)方案 ................................................................................92.3 玻璃清潔機(jī)器人爬行系統(tǒng)方案 ..............................................................................112.4 其它部分方案 ..........................................................................................................112.4.1 材料選擇 .........................................................................................................112.4.2 輪的潤滑問題 ................................................................................................112.4.3 軸承的潤滑問題 ............................................................................................112.5 本章小結(jié) ..................................................................................................................12第 3 章 玻璃清潔機(jī)器人主要零件設(shè)計(jì) ..............................................................................133.1 直齒輪副的設(shè)計(jì)計(jì)算 ..............................................................................................133.1.1 齒面接觸疲勞強(qiáng)度計(jì)算 ................................................................................153.1.2 齒根抗彎疲勞強(qiáng)度驗(yàn)算 ................................................................................1643.1.3 齒面靜強(qiáng)度計(jì)算 ............................................................................................173.1.4 齒根（抗彎）靜強(qiáng)度驗(yàn)算 ............................................................................183.2 錐齒輪副的設(shè)計(jì)計(jì)算 ..............................................................................................193.2.1 基礎(chǔ)尺寸確定 ................................................................................................193.2.2 確定載荷系數(shù) K............................................................................................203.2.3 齒面接觸疲勞強(qiáng)度計(jì)算 ................................................................................203.2.4 齒根抗彎疲勞強(qiáng)度計(jì)算 ................................................................................213.3 本章小結(jié) ..................................................................................................................22第 4 章 玻璃清潔機(jī)器人擦洗系統(tǒng)設(shè)計(jì) ..............................................................................234.1 擦洗機(jī)器刷洗部分設(shè)計(jì) ..........................................................................................234.1.1 盤刷設(shè)計(jì) ........................................................................................................234.1.2 滾刷設(shè)計(jì) ........................................................................................................244.1.3 刷洗部分所用彈簧的設(shè)計(jì) .............................................................................254.2 內(nèi)空心軸設(shè)計(jì) ..........................................................................................................264.3 擦洗機(jī)主機(jī)滾輪的設(shè)計(jì) ..........................................................................................264.4 主機(jī)上傳感器及行程開關(guān)的選擇 ..........................................................................274.5 復(fù)合纜的結(jié)構(gòu)設(shè)計(jì) ...................................................................................................274.6 本章小結(jié) ..................................................................................................................28第 5 章 玻璃清潔機(jī)器人吸附系統(tǒng)設(shè)計(jì) ..............................................................................295.1 采用風(fēng)壓吸附的意義 ..............................................................................................295.2 基本原理 ..................................................................................................................295.3 氣動(dòng)計(jì)算的原始數(shù)據(jù)與技術(shù)要求 ..........................................................................295.4 風(fēng)壓部分力學(xué)計(jì)算 ...................................................................................................305.5 本章小結(jié) ..................................................................................................................31總結(jié) ........................................................................................................................................32參考文獻(xiàn) ................................................................................................................................33致 謝 ....................................................................................................................................35