毕业设计（论文）-吸附式爬壁清洗机设计（全套图纸）.doc

摘 要 随着城市高层建筑的兴起，以玻璃壁面为代表的壁面结构逐渐演绎成华丽的“城市外衣”，由此衍生出繁重的壁面清洗任务，爬壁移动机器人可承担此清洗、任务，将为人类带来巨大的经济效益和社会效益。 爬壁移动机器人是一种能够在垂直壁面进行移动作业的极限作业机器人，世界机器人大国日本在极限作业机器人研究方面尤为积极。 吸附式爬壁清洗机主要由吸附部分、移动部分和清洗部分组成。爬壁清洗机应该具有一定的吸附能力，其产生的摩擦力大于清洗机的重力，从而防止坠落，同时还应具有驱动机构，能够使清洗机在壁面上自由移动，并且有电机控制清洁头旋转，当清洗机在壁面上移动时能够完成对壁面的清洁工作。 本文设计的吸盘吸附爬壁清洗机器人具有如下功能：吸附与行走壁面适应With the development of city of tall buildings with glass wall, as the representative of the wall structure has evolved gradually into a gorgeous city coat, derived from the heavy wall cleaning tasks, wall climbing robot can undertake the cleaning, tasks, will bring huge economic benefits and social benefits for human. Wall climbing robot is a kind of ultimate robot capable of moving on the vertical wall of the operation, the robots in Japan in the limit of robot has been particularly active. Adsorption type wall climbing cleaning machine is mainly composed of adsorption part, a moving part and a cleaning part. Wall climbing cleaning machine should have certain adsorption capacity, friction generated more than cleaning machine, gravity, and thus prevent the fall, but also has a drive mechanism, can make the cleaning machine free movement on the wall, and a motor control cleaning head rotation, when the cleaning machine to move on the wall surface can finish the work on time wall cleaning. The suction wall climbing cleaning robot is designed in this paper has the following functions: adsorption and walking function, adaptability to wall surfaces function, complete cleaning work. Walking function by the track and the track wheel meshed track to complete the form. The adsorption mechanism adopts vacuum adsorption, adsorption mechanism design to produce adsorption ability, it can safely and reliably adsorbed on the work surface to ensure the robot working process. Cleaning mechanism is matched with the wall climbing robot for wall cleaning robot for wall cleaning accessories. Sucking the wall climbing cleaning robot has the advantages of simple structure, c