【正文】 自攀爬機器人結構設計研究 摘要 機器人的出現(xiàn)，拓展了人類的能力范圍，縮小了人對自然的距離，極大地推動了人類社會的技術進步。它是計算機科學、控制論、機械學、電子技術等多學科綜合性的高科技產(chǎn)物，是典型的機電一體化產(chǎn)品。機器人技術的發(fā)展，不但可以部分取代人完成各種惡劣環(huán)境下的工作， 而且 將對人類社會產(chǎn)生深遠的影響。 自攀爬機器人是機器人的一種，屬 于 極限作業(yè)機器人。自攀爬機器人主要用于 垂直壁面、球面等攀爬行走，可搭載相應的設備，實現(xiàn)壁面的清洗、探傷、管道敷設、油漆等多種功能，是一種通用的用 于 垂直 壁面、球面等場合的行走機器人。其目的是代替人類，在各工業(yè)、石化企業(yè)、建筑行業(yè)、消防部門、造船等領域中的危險狀態(tài)下作業(yè)。它的研究和開發(fā)有著廣闊的前景和良好的社會效益，受到人們的重視。世界上很多國家開展了這方面的研究工作，國內(nèi)外已有不同類型的自攀爬機器人研制成功。自攀爬機器人的研究涉及機器人、人工智能、傳感、控 制、視覺、環(huán)境識別、現(xiàn)代設計方法等諸多知識，是多學科交叉綜合的結果。此外，還涉及構成各類機器人自身服務功能的各項專有技術。 本文研究目的是設計一種新型、可靠性高、適應范圍廣 且 能夠自主移動、自 主避 障的自攀爬機器人。通過對國內(nèi)外研究現(xiàn)狀進行總結和分析，針對自攀爬機器人的工作環(huán)境，提出一種新型的 三 角框架式結構、真空吸附方式、電氣混合驅動形式的自攀爬機器人本體結構形式。通過氣缸桿的伸縮和電動缸的相對移動，實現(xiàn)自攀爬機器人的自主攀爬和自主避障。通過步進電機驅動蝸桿和蝸輪，使上下框架做相對轉動，從 而 實現(xiàn)機器人任意角度的旋轉。本文詳細的分析了機器人在理論和實際開發(fā)應用中存在的問題，制作了自攀爬機器人樣機。該機器人既能夠在垂直壁面上爬行，又能適應一定曲率范圍的球形壁面，具有越障能力強、負載大、能任意方向旋轉等特點 。 本文理論聯(lián)系實際，針對所設計的機器人，進行了運動學方面的分析。本文對自攀爬機器人的研究，給自攀爬機器人的新型結構和自主移動提供了依據(jù)。 關鍵詞 :自攀爬機器人，真空吸附，框架結構，避障 。 The Study of Mechanism for SelfScramble Robot ABSTRACT The invention of robot stretches the ability of human beings to explore the world,expands the scope of the human action, narrows the distance between people and nature,and accelerates the technological progress of human society. Robot ismultidisciplinarily integrated hightech product which involves in puter science,control theory, machinery, and electronic technology. It is a typical electromech anicallyintegrated product. The development of robot technology will enable robot to replacehuman beings to plete any kind of work in tough working environment, which hasfarreaching influence on the human society. SelfScrambling Robot is one kind of special robots for special assignment, which is mainly used for climbing the vertical wall or spherical wall, able to carry thecorresponding devices for such functions as wall cleaning, testing, pipeline laying,painting. It is a typical robot for climbing the vertical wall or spherical wall, in thepurpose of replacing humans to work in such risky environments as in the industrial orpetrochemical enterprises, the construction industry, fire departments and so on. Itsresearch and development will bring broad prospects and good social values, which hasbeen highly reflected. Many countries all over the world have started studies in this field,and many different types of selfclimbing robots have been invented successfully at thedomestic and overseas. SelfScrambling Robot involves in such knowledge as robotics,artificial intelligence, sensing, control, visual, environmental identification, and modern design methods, therefore, it is a multiinterdisciplinary product. In addition, it also involves in a wide range of special technologies for the selfservice functions of robots. In this paper, the purpose of the study is to design a new, highly reliable and widely applicable selfclimbing robot that can automatically move and avoid obstacles. Based on the analysis of the research status quo at the domestic and overseas, a new mold of selfclimbing robot es into being, which applies a triangular framework structure,vacuum adsorption method and electricpneumatic hybriddriven power, fitting its working environment. The selfclimbing robot achieves automatically climbing and avoiding obstacles by the cylinder rod39。s moving and the electric cylinder39。s relative movement. Stepper motor drives the worm and wheel to make the upper and lower parts of the selfclimbing robot to rotate, and thus the robot achieves rotation in any paper minutely analyses the theoretical and practical problems of the robot in its development and application, and a prototype of selfclimbing robot has been robot, characterized by strong ability to avoid obstacles, large capacity of load and rotation in any direction, is able to crawl along the vertical wall as well as some of the spherical curvatures of the wall. This paper applies theory to practice on the selfclimbing robot, and has a kinematics analysis in view of the robot designed. Based on the studies of selfclimbing robot, this paper has some help to the study of new structure and automatic movement of robot Keywords: SelfClimbing Robot, Vacuum adsorption, Frame ， Obstacle avoidance 目 錄 第 1 章 緒論 ??????????????????????????? 1 引言 ????????????????????????? ? ? 1 研究意義及目的 ?????????????????????? 1 自攀爬機器人國內(nèi)外研究現(xiàn)狀和問題 ????????????? 2 國 外研究現(xiàn)狀 ???????????????????? 3 國內(nèi)研究現(xiàn)狀 ???????????????????? 7 自攀爬機器人發(fā)展趨勢 ???????????????? 10 現(xiàn)有自攀爬機器人類型比較分析 ???????????? 10 課題研究內(nèi)容及技術要求 ????????????????? ? 11 本章小結 ?????????????????????? ?? ? 12 第 2 章 自攀爬機器人本 體結構設計 ????????????????? 13 引言 ??????????????????????? ?? ? ? 13 總體系統(tǒng)設計 ?????????????????????? ? 13 移動機構設計 ???????????????????? ?? ? 15 移動機構總體設計 ??????????????? ?? ? 15 上框架的設計 ??????????????????? ? 16 下框架的設計 ??????????? ???????? ? 16 電動缸及伺服電機的選取 ?????????????? ? 17 轉動機構設 計 ??????????????????? ?? ? ? 19 轉動機構總體設計 ??????????????? ?? ? 19 蝸 輪蝸桿設計 ????????????????? ?? ? 19 蝸 桿傳動的受力分析 ???????????????? ? 22 步進電機的選擇 ????????? ????????? ? 23 安全裝置及設計 元 件重量 ????????????????? ? 24 導軌、支座和滑塊的選取 ????????????????? ? 25 本章小結 ???????????????????????? ? 25 第 3 章 自攀爬機器人氣動控制系統(tǒng)設計與分析 ???????????? 26 引言 ???????????????????????? ?? ? 26 真空吸附結構設計 ???????????????????? ? 26 吸附機構工作原理 ????????????????? ? 26 吸附機構設計???????????????????? 27 真空吸附機構安全性分析??????????????? 28 動邏輯控制分析與設計?????????????????? 30 動控制系統(tǒng)設計????????????????????? 33 真空吸盤的選取????????????????????? 34 本章小結???????????? ???????????? 34 第 4 章 自攀爬機器人運動學理論基礎 ??????????????? 35 前言?????????????????????????? 35 自攀爬機器人運動學分析????????????????? 35