隧道清洁车侧面除与安全装置设计-毕业设计说明书.docVIP

毕 业 设 计 说 明 书 隧道清洁车侧面除尘与安全装置设计 专 业 学生姓名 班 级 学 号 指导教师 完成日期 隧道清洁车侧面除尘与安全装置设计 摘要：为了实现机器代替人工侧面除尘的机械手隧道侧面除尘工作的要求了的设计方案，把整个除尘机械手分为三大部分一个是车载装置，二是机械手本体，三是吸尘装置。完整个装置的承载作用，着机械手本体部分和垃圾储存箱机械本体实现除尘动作用机构完成隧道侧面轨迹做摆动用位置传感器控制摇杆上的伺服电机电机驱动装置达到控制手臂的伸缩完成更有效的除尘效果；吸尘装置作为隧道墙壁的除尘。机器结构简单，操作方便，能可靠运行代替人工达到满意的除尘效果 关键词：地铁隧道，除尘装置，蜗轮蜗杆升降机，机械手  The design of the manipulator about dusting to the side of tunnel Abstract: In order to achieve the subway completion that a robot can clear both sides of a tunnel’s dust instead of manual work, this subject has designed the robot . According to the requirements , the overall design was proposed. The whole manipulator can be divided into three parts: vehicle mounted device, robot, vacuum cleaner. The vehicle mounted device plays a role of load carrying capacity in the whole devise, including robot and garbage storage box. The manipulator can complete the action of clearing dust. The Crank-rocker mechanism swings along the track of the tunnel side , using position sensor to control the servo motor which is on the joystick. The motor driving telescopic rack and pinion device can control the stretch of arm, completing the removal of dust more effectively. Vacuum cleaner can complete the job of cleaning the dust of tunnel wall. The whole machine has simple structure and it is easy to operate. The movement is reliable and steady. It can replace the artificial to reach the satisfied effect of cleaning dust. Key words: Subway tunnel, Dust collecting equipment, Crank-rocker mechanism, Manipulators 目 录 1 绪论 1 1.1 课题的背景及国内外现状 1 1.2 国内外的研究现状 1 1.2.1 机械除尘技术 1 1.2.2 过滤除尘技术 2 1.2.3 静电除尘技术 2 1.3 课题研究的目的和意义 3 2 除尘机械手的设计总体方案 4 2.1隧道清洁车侧面除尘与安全装置设计任务 4 2.2 隧道清洁车的设计思路 4 2.3地铁隧道侧面除尘机械手的类型 6 2.4 蜗轮蜗杆升降机的选取 8 2.4.1 为何选取蜗轮蜗杆升降机 9 2.4.2 蜗轮蜗杆升降机的选型 9 2.5 机械手自由度的校核 12 3 除尘机械手的运动结构设计 12 3.1 除尘机械手末端执行器运动轨迹的规划 13 3.2 除尘机械手的组成 13 3.3 机械手手腕回转中心的确定 14 4 其它部件的设计与选型 17 4.1