玻璃清潔機(jī)器人驅(qū)動(dòng)及擦洗機(jī)構(gòu)設(shè)計(jì)

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  摘   要
    高樓玻璃幕墻清洗機(jī)器人是特種機(jī)器人的一個(gè)分支。它是基于壁面移動(dòng)機(jī)器
人技術(shù)，并針對(duì)具體的作業(yè)對(duì)象，具有明確功能的實(shí)用機(jī)器人，其工作在垂直危
險(xiǎn)的玻璃壁面，能夠克服重力的作用，攜帶清洗設(shè)備，是面向現(xiàn)代高層建筑玻璃
外墻表面保潔、清洗服務(wù)的極限作業(yè)機(jī)器人。
    論文首先對(duì)機(jī)器人總體方案進(jìn)行介紹，在此基礎(chǔ)上，對(duì)機(jī)器人總體結(jié)構(gòu)進(jìn)行了設(shè)計(jì)分析。其次重點(diǎn)介紹了機(jī)器人的驅(qū)動(dòng)機(jī)構(gòu)，討論了機(jī)器人的作業(yè)路徑及運(yùn)動(dòng)控制規(guī)劃。最后，簡(jiǎn)單介紹了機(jī)器人的擦洗機(jī)構(gòu)
    關(guān)鍵詞:玻璃，幕墻清洗機(jī)器人，驅(qū)動(dòng)機(jī)構(gòu)，擦洗機(jī)構(gòu)，密封機(jī)構(gòu)
             
                           ABSTRACT
   Glass-wall cleaning robot is one of robot for limited operation,which can walk on Vertical glass-wall with washing devices.It is a robot with specific applied functions,Based on wall-climbing robot techniques.for specific objects.And it works on vertical Glass-wall,where is dangerous for human beings.It is a robot could conquer the gravity effect and carry cleaning equipments,facing to glass-wall surface beautifying service of modern high-rise buildings.
Firstly, the whole frame of the glass wall cleaning robot is introduced,  based on this, the designing and analyzing Of the structure of the robot are described in details.Then,introducing the drive mechanism of the robot,Discussed the operation of the robot path planning and motion control. Finally, a brief introduction of the robot body scrub
Key words: Glass, wall cleaning robot, driving mechanism
       Scrub  mechanism,sealing  mechanism

                             目  錄

摘   要 2
ABSTRACT 2
1 前 言 4
2 玻璃清潔機(jī)器人總體方案規(guī)劃 5
2.1 機(jī)器人設(shè)計(jì)思想 5
2.2機(jī)器人總體結(jié)構(gòu)方案 5
3  驅(qū)動(dòng)機(jī)構(gòu)和擦洗機(jī)構(gòu) 7
3.1 驅(qū)動(dòng)機(jī)構(gòu)分析 7
3.1.1 驅(qū)動(dòng)方式 7
3.1.2運(yùn)動(dòng)結(jié)構(gòu)和運(yùn)動(dòng)規(guī)劃 7
3.1.3運(yùn)動(dòng)過(guò)程控制原理分析 8
3.1.4外形尺寸選擇 10
3.1.5驅(qū)動(dòng)力分析 10
3.1.6小結(jié) 11
3.2擦洗機(jī)構(gòu)分析 11
4 其它元件選擇 12
4.1密封機(jī)構(gòu) 12
4.2換向閥和溢流閥的選擇 12
5 總 結(jié) 13
參考文獻(xiàn) 14
致 謝 15