【正文】 Abstract: In order to achieve the subway pletion 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 plete the action of clearing dust. The Crankrocker 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, pleting the removal of dust more effectively. Vacuum cleaner can plete 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, Crankrocker mechanism, Manipulators 鹽城工學(xué)院本科生畢業(yè)設(shè)計說明書 2020 目 錄 1 緒論 ..................................................................................................................................... 1 課題的背景及國內(nèi)外現(xiàn)狀 ............................................................................................ 1 國內(nèi)外 的研究現(xiàn)狀 ...................................................................................................... 1 機(jī)械除塵 技術(shù) .................................................................................................. 1 過濾除塵技術(shù) .................................................................................................. 2 靜電除塵技術(shù) .................................................................................................. 2 課題 研究的目的和意義 ............................................................................................... 3 2 除塵 機(jī)械手的設(shè)計 的 總體方案 .............................................................................................. 4 隧道清潔車側(cè)面除塵與安全裝置設(shè)計任務(wù) .................................................................... 4 隧道清潔車的設(shè)計思路 ............................................................................................... 4 地鐵隧道側(cè)面除塵機(jī)械手的類型 .................................................................................. 6 蝸輪蝸桿升降機(jī)的選取 ............................................................................................... 8 為何選取蝸輪蝸 桿升降機(jī) ................................................................................ 9 蝸輪蝸桿升降機(jī)的選型 .................................................................................... 9 機(jī)械手自由度的校核 ................................................................................................. 12 3 除塵 機(jī)械手的運(yùn)動 及 結(jié)構(gòu)設(shè)計 ............................................................................................ 13 除塵機(jī)械手末端執(zhí)行器運(yùn)動軌跡的規(guī)劃 ..................................................................... 13 除塵機(jī)械手的組成 .................................................................................................... 13 機(jī)械手手腕回轉(zhuǎn)中心的 確定 ...................................................................................... 14 4 其它部件的設(shè)計與選型 ....................................................................................................... 17 電機(jī)的應(yīng)用選擇 ........................................................................................................ 17 驅(qū)動電機(jī)的選擇 ............................................................................................ 18 地鐵隧道除塵機(jī)械手的電機(jī)選擇 .................................................................... 18 吸塵頭的設(shè)計 ........................................................................................................... 21 手臂伸縮長度設(shè)計 .................................................................................................... 22 理想 狀況下手臂的伸縮量計算 ................................................................................ 22 ................................................................................................................................... 23 參考文獻(xiàn) ............................................................................................................................... 24 致謝 ...................................................................................................................................... 25 附 錄 ................................................................................................................................... 26 隧道清潔車側(cè)面除塵與安全裝置設(shè)計 1 1 緒論 課題的背景及國內(nèi)外現(xiàn)狀 在現(xiàn)代的社會，由于城市化建設(shè)的飛速發(fā)展以及城市人口的快速增長，過量的人群活動在擁擠的城市區(qū)域，加上機(jī)動車和非機(jī)動車的大量購買造成了很大的堵塞和擁擠，使得城市里的交通充滿了前所未有的壓力。英國倫敦市內(nèi)的地鐵總長 408 公里多。地鐵有 15 條線路， 199 公里。據(jù)統(tǒng)計，我國擁有 100 萬人口的城市有 34 個，擁有 50 到 100 萬的人口的城市也達(dá)到了 43 個。吸引了人們的實(shí)用，促進(jìn)城市發(fā)展，改善了公共交通環(huán)境。隧道在列車長時間運(yùn)行之后存在了大