设计简介
摘 要
爬壁机器人是一种能够在垂直壁面上进行清洗、除锈、喷漆作业的移动式服务机器人。它属于极限作业机器人的一种，使用铁罐外壁爬行机进行大型工业储罐的自动喷砂除锈，其实现的关键是机器人的移动方式、吸附方式。本文研究的目的是设计一种面向铁罐壁面的可靠、高效、省时、安全的喷砂作业系统。
这个设计先是讲述了国内及国外爬壁机器人的研究状况，表明了本课题研究的目的、意义。然后进一步选择了铁罐外壁爬行机器人的结构方案选择。然后进行了铁罐外壁爬行机的吸附方式的设计计算以及电磁铁的选择；爬壁机爬行机构的卷扬机钢丝绳选择以及卷筒设计，减速机构采用锥齿轮和蜗轮蜗杆传动组合并对减速箱进行详细设计，喷枪传动机构的设计计算。最后阐述了本课题设计的结论，表明了本课题设计概念以及其未来的发展。
关键词：爬壁机器人；吸附；移动
目 录
摘 要 II
ABSTRACT III
1 绪论 2
1.1 爬壁机器人概述 2
1.2 目前研究的概况和发展趋势 2
2 铁罐外壁爬行机结构设计方案 4
2.1 技术性能指标 4
2.2 爬壁机器人的方案选择 4
3 爬行机结构设计计算 6
3.1 电磁计算及电磁铁选择 6
3.2 行走机构设计计算 6
3.3 减速箱设计计算 8
4 喷砂传动机构设计 17
5 结论................................................................ ..18
参 考 文 献 19
致谢..................... ................................................32
爬壁机器人是一种能够在垂直壁面上进行清洗、除锈、喷漆作业的移动式服务机器人。它属于极限作业机器人的一种，使用铁罐外壁爬行机进行大型工业储罐的自动喷砂除锈，其实现的关键是机器人的移动方式、吸附方式。本文研究的目的是设计一种面向铁罐壁面的可靠、高效、省时、安全的喷砂作业系统。
这个设计先是讲述了国内及国外爬壁机器人的研究状况，表明了本课题研究的目的、意义。然后进一步选择了铁罐外壁爬行机器人的结构方案选择。然后进行了铁罐外壁爬行机的吸附方式的设计计算以及电磁铁的选择；爬壁机爬行机构的卷扬机钢丝绳选择以及卷筒设计，减速机构采用锥齿轮和蜗轮蜗杆传动组合并对减速箱进行详细设计，喷枪传动机构的设计计算。最后阐述了本课题设计的结论，表明了本课题设计概念以及其未来的发展。
关键词：爬壁机器人；吸附；移动
ABSTRACT
Wall climbing robot is a mobile service robot which can clean, remove rust and spray paint on vertical wall.It belongs to a kind of extreme operation robot, which uses wall climbing robot to automatically blast sand to remove rust from large industrial storage tank. The key to its realization is the movement mode, adsorption mode of robot.The purpose of this paper is to design a reliable, efficient, time-saving and safe sand blasting system for the wall of iron tank.
Firstly, the research status of wall climbing robot at home and abroad is introduced, and the purpose and significance of this research are expounded.Then the design and calculation of the adsorption method of the outer wall crawler and the selection of the electromagnet are carried out.Selection of Winch Wire Rope and Reel Design for crawling Mechanism of Wall climbing Machine,The gear reducer is combined with bevel gear and worm gearing and the gearbox is designed in detail.Design and calculation of gun transmission mechanism.Finally, the conclusion of the project design is expounded, and the concept of the subject design and its development in the future are indicated.
Key Words： climbing robot;adsorption ; move
Wall climbing robot is a mobile service robot which can clean, remove rust and spray paint on vertical wall.It belongs to a kind of extreme operation robot, which uses wall climbing robot to automatically blast sand to remove rust from large industrial storage tank. The key to its realization is the movement mode, adsorption mode of robot.The purpose of this paper is to design a reliable, efficient, time-saving and safe sand blasting system for the wall of iron tank.
Firstly, the research status of wall climbing robot at home and abroad is introduced, and the purpose and significance of this research are expounded.Then the design and calculation of the adsorption method of the outer wall crawler and the selection of the electromagnet are carried out.Selection of Winch Wire Rope and Reel Design for crawling Mechanism of Wall climbing Machine,The gear reducer is combined with bevel gear and worm gearing and the gearbox is designed in detail.Design and calculation of gun transmission mechanism.Finally, the conclusion of the project design is expounded, and the concept of the subject design and its development in the future are indicated.
Key Words： climbing robot;adsorption ; move
目 录
摘 要 II
ABSTRACT III
1 绪论 2
1.1 爬壁机器人概述 2
1.2 目前研究的概况和发展趋势 2
2 铁罐外壁爬行机结构设计方案 4
2.1 技术性能指标 4
2.2 爬壁机器人的方案选择 4
3 爬行机结构设计计算 6
3.1 电磁计算及电磁铁选择 6
3.2 行走机构设计计算 6
3.3 减速箱设计计算 8
4 喷砂传动机构设计 17
5 结论................................................................ ..18
参 考 文 献 19
致谢..................... ................................................32
