毕业论文：《罐体爬壁机器人翻阅机构的设计》.doc

PAGE 摘 要 爬壁机器人是移动机器人领域的一个重要分支，它把地面移动机器人技术与吸附技术有机结合起来。可在垂直壁面上附着爬行,并能携带工具完成一定的作业任务,大大扩展了机器人的应用范围。 本文所设计的是一套爬壁机器人翻越障碍及结构突变位置的翻越机构，该机构可在翻越特殊结构位置时展开，辅助机器人在地面与垂直壁面或者在垂直壁面与拱形罐顶之间的攀爬过渡。攀爬过障碍区后该机构可折叠回收，妥善安放在机器人合适位置。文章先从国内外现有爬壁机器人有关文献中总结得出几种翻越机构的设计方案，然后通过对比选出最佳方案。方案定下来之后就进行电机、传动机构以及安装、定位等的设计计算。在具体方案确定后进行了各种翻越状态的计算校核，还有轴类零件的强度校核计算。 本文所研究的罐体爬壁机器人翻阅机构，是能够实现在石油化工行业大型储油罐的内外壁及地面之间自由翻越的机器人，具有很高的推广应用价值。 关键词：爬壁机器人；磁吸附；翻越机构；越障 Abstract Wall-climbing robot is an important branch of the mobile robot field as it is the terrestrial mobile robotics combine with adsorption technology. It can be attached to the vertical wall crawling, and to carry tools to complete certain tasks in the greatly expanded scope of application of robots. This article is designed to climb over a wall-climbing robot and structural obstacles to climb over the location of mutations in body with a special structure in the position of crossing the start-assisted robot on the ground and perpendicular to the wall or vertical wall with the arched top of the tank the transition between the climbing. Climbing over obstacles zone folding of the body recovery, properly placed in the right position the robot. Articles start with the existing wall-climbing robot at home and abroad are summarized in the literature of several climb institutions draw the design, then select the best solution by comparing. Program laid down after the motor, transmission and installation, positioning and other design calculations. Specific programs identified in a variety of crossing the state after the calculation of calibration, as well as the strength of shaft checking calculation.Studied in this paper wall-climbing robot read the tank body is able to achieve a large storage tanks in the petrochemical industry,?internal and external wall and floor crossing freely between the robot, with a high application value. Keywords: Wall-climbing robot；Magnetic adsorption；Corner cross mechanism ；Obstacle crossing. PAGE I 目 录 TOC \o 1-2 \h