玻璃清洁机器人

玻璃清洁机器人的设计本科生毕业设计题目：玻璃清洁机器人的设计目录中文摘要及关键词........................................................I英文摘要及关键词.......................................................II第一章绪论.............................................................11.1课题目的、意义...................................................11.2相关研究动态.....................................................11.3课题的主要内容...................................................2第二章玻璃清洁机器人总体方案设计.......................................32.1清洁机器人的总体方案.............................................32.2清洁机器人传动系统方案...........................................32.2玻璃清洁机器人清洗系统方案.......................................42.3玻璃清洁机器人爬行系统方案.......................................52.4其它部分方案.....................................................82.4.1材料选择....................................................82.4.2轮的润滑问题...............................................82.4.3轴承的润滑问题.............................................82.5本章小结.........................................................9第三章玻璃清洁机器人传动系统设计......................................103.1玻璃清洁机器人电动机的选择......................................103.2直齿轮副的设计计算..............................................123.2.1齿面接触疲劳强度计算......................................143.2.2齿根抗弯疲劳强度验算......................................163.2.3齿面静强度计算............................................173.2.4齿根（抗弯）静强度验算....................................18玻璃清洁机器人的设计3.3锥齿轮副的设计计算..............................................183.3.1基础尺寸确定..............................................183.3.2确定载荷系数K.............................................203.3.3齿面接触疲劳强度计算......................................203.3.4齿根抗弯疲劳强度计算......................................213.4中心轴管的受力分析..............................................223.5中心轴管的强度校核..............................................233.6键的校核........................................................243.7轴承的校核......................................................253.3本章小结........................................................26第四章玻璃清洁机器人清洗系统设计......................................274.1清洗机器清洗部分设计............................................294.1.1盘刷设计..................................................294.1.2滚刷设计..................................................304.1.3清洗部分所用弹簧的设计.....................................304.2内空心轴设计....................................................364.3清洗机主机滚轮的设计............................................374.4主机上传感器及行程开关的选择....................................374.5复合缆的结构设计................................................384.6本章小结........................................................38第五章玻璃清洁机器人吸附系统设计......................................395.1吸附原理........................................................395.2吸附方式的实现..................................................405.2.1风机推力......................................................405.2.2负压的产生....................................................435.3采用风压吸附的意义..............................................435.5气动计算的原始数据与技术要求....................................445.6风压部分力学计算................................................445.7本章小结........................................................46结论...................................................................47参考文献...............................................................48玻璃清洁机器人的设计致谢.................................................................50玻璃清洁机器人的设计I中文摘要及关键词摘要:本文在简单介绍玻璃清洁机器人的国内外研究现状的基础上，基软件CAD对四轮式风压吸附玻璃清洁机器人的本体机构进行了设计，对一些关键部分进行了设计计算及校核计算，重点是玻璃清洁机器人的移动结构、吸附结构和驱动系统的设计计算。采用四轮式小车形状结构，结构简单；采用风压吸附方式，利用螺旋桨对空气的压缩所产生的压力将机器人压在物体玻璃，避免了清晰机器人对壁面的局限，降低了控制难度；清洗机主要由伺服悬吊系统、清洗主机和由计算机控制系统组成；采用无人化清洗，自动清洗，自动供水，自动供清洗液，单片机系统控制，操作人员只需通过键盘即可操纵清洗机工作，而且在清洗过程中，清洗机能够自动进行边缘识别，可根据建筑楼层的具体情况选择为纵洗或横洗；采用后轮驱动，一个电机驱动两个后轮，后轮带动前轮完成机器人的行走，使用直齿圆柱齿轮传动装置作为减速器；采用楼顶供电；机器人可以在水平面或者垂直玻璃直线行走。本机的清洗效率较高，清洗效果良好。关键词：玻璃清洁机器人；风压吸附；齿轮机构；清洗玻璃清洁机器人的设计II英文摘要及关键词Abstract：Thispaperintroducestheresearchstatusofglasscleaningrobot,basedontheCAD-basedsoftwareforthefour-wheelpressureadsorptionglasscleaningrobotbodymechanismisdesigned,someofthekeypartsofthedesigncalculationsandcheckingcalculation,thefocusItisdesignedtomovethestructure,adsorptionstructureanddrivesystemclimbingrobotcalculations.Four-wheel-typecar-shapedstructure,thestructureissimple;usingadsorptionpressure,thepressureofapropellerofaircompressiongeneratedbytherobotpressedglassobjects,avoidingthelimitationsoftherobotclearthewall,reducingthedifficultyofcontrol;scrubbermainlybytheservosuspensionsystem,scrubandhostcomputercontrolsystem;theuseofunmannedscrub,scrubautomatic,automaticwatersupply,automaticsolutionforscrubbing,single-chipsystemcontrol,theoperatorsimplybymanipulatingthekeyboardtoworkscrubbingmachine,andintheprocessofscrubbing,scrubbingmachinescapableofautomaticedgedetectioncanbeselectedfortheverticalorhorizontalwashwashaccordingtothespecificcircumstancesofthebuildingfloor;rear-wheeldrive,amotordrivingtherearwheels,rearwheeldrivecompleterobotwalking,usingaspurgeartransmissionasthereducer;usingpoweredroof;therobotcanwalkina