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摘 要 由于各種因素的影響，市場上玻璃清潔機器人的技術(shù)還處于初級階段，在實際運 用中還存在諸多問題。本次設(shè)計通過研究玻璃清潔機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、最符合實際運用的運動 方案。 本設(shè)計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器人的研究,設(shè)計,運 用方案,并把其中一種我們認(rèn)為是目前最合理,最具有市場前景的設(shè)計方案進行詳細(xì)規(guī) 劃及分析,反復(fù)對方案進行認(rèn)證,逐步進行修改及優(yōu)化.確定玻璃清潔機器人以輪式自主 移動機器人為載體.最終完成玻璃清潔機器人的結(jié)構(gòu)設(shè)計、機構(gòu)各種參數(shù)計算和分析、 相關(guān)零件材料的選用及工藝分析。 從玻璃清潔機器人在玻璃墻壁上的行走機構(gòu),轉(zhuǎn)向和自動避障機構(gòu),自動清洗機構(gòu) 三個模塊詳細(xì)闡述了機器人系統(tǒng)的工作原理和實現(xiàn)方法.玻璃清潔機器人的工作原理是 利用兩對傳動齒輪將驅(qū)動電機上的力矩傳遞到驅(qū)動軸上,從而帶動兩個后輪轉(zhuǎn)動,實現(xiàn) 機器人在玻璃墻壁上的自由行走.機器人的兩個前輪均采用嵌入式直接驅(qū)動裝置,在機 器人正常直線行走時為機器人提供一定的牽引力,在機器人遇到障礙物時則一個電機正 轉(zhuǎn),一個電機反轉(zhuǎn),實現(xiàn)機器人的零轉(zhuǎn)彎半徑轉(zhuǎn)向.清洗機構(gòu)為滾桶式,由驅(qū)動電機提供 動力,并且中間無減速機構(gòu),即滾筒的轉(zhuǎn)速與驅(qū)動電機的轉(zhuǎn)速相同。 通過在已有的方案基礎(chǔ)上進行創(chuàng)新設(shè)計，使得設(shè)計出來的玻璃清潔機器人更能滿 足用戶的需求，以此拓展它的市場前景。 關(guān)鍵詞：輪式；玻璃；滾筒；嵌入式直接驅(qū)動裝置；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 玻璃清潔機器人總體運動方案規(guī)劃 ..............................2 2.1 玻璃清潔機器人行走、轉(zhuǎn)向機構(gòu)方案設(shè)計 ..................................2 2.1.1 足式行走機構(gòu).........................................................3 2.1.2 履帶式行走機構(gòu).......................................................4 2.1.3 輪式行走、轉(zhuǎn)向機構(gòu)...................................................4 2.2 清洗機構(gòu) ..............................................................7 2.3 傳動機構(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 電機選型 ....................................................9 4 玻璃清潔機器人結(jié)構(gòu)設(shè)計和主要參數(shù)計算、分析 .................12 4.1 車輪設(shè)計 .............................................................12 4.2 后輪驅(qū)動減速機構(gòu)設(shè)計 .................................................13 4.3 后輪驅(qū)動軸的結(jié)構(gòu)設(shè)計與校核 ...........................................18 4.4 齒輪的定位結(jié)構(gòu)設(shè)計 ...................................................20 4.5 中間軸的結(jié)構(gòu)設(shè)計與校核 ...............................................21 4.6 電機連接軸的結(jié)構(gòu)設(shè)計 .................................................24 4.7 后輪減速機構(gòu)箱體結(jié)構(gòu)設(shè)計 .............................................25 4.8 底盤結(jié)構(gòu)設(shè)計 .........................................................26 4.9 螺栓組連接的結(jié)構(gòu)設(shè)計 .................................................28 4.10 吸附機構(gòu)的結(jié)構(gòu)設(shè)計及合理性分析 ......................................29 5 玻璃清潔機器人穩(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 減速機構(gòu)上箱體和機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 玻璃清潔機器人總裝配圖 .....................................40 9 結(jié)論 .......................................................41 謝 辭 ........................................................42 參考文獻 ......................................................43 附 錄 ........................................................44