【正文】 Firstly, it is introduce that Research to the climbing robot at home and abroad, clarify the purpose of the research, significance. And then further describes the overall structure of the wallclimbing robot, meanwhile it is also asked to design reasonable and efficient of crawling device, and in this basis, it is focused on the main problems and solutions for climbing robot control system, the robot39。 hook claw。 Development 畢業(yè)設(shè)計（論文） III 目 錄 摘 要 ...........................................................................................................................I Abstract ......................................................................................................................... II 目 錄 ........................................................................................................................ III 第 1 章 緒論 ................................................................................................................ 1 本文研究的目的及意義 .................................................................................. 1 國內(nèi)外爬壁機器人的發(fā)展現(xiàn)狀和趨勢 .......................................................... 1 國外爬壁機器人的發(fā)展現(xiàn)狀 ................................................................ 1 國內(nèi)爬壁機器人的發(fā)展現(xiàn)狀 ................................................................ 3 爬壁機器人的發(fā)展趨勢 ........................................................................ 4 研究內(nèi)容及研究方法 ...................................................................................... 5 研究內(nèi)容 ................................................................................................ 5 研究方法 ................................................................................................ 5 第 2 章 鉤爪式爬壁 機器人方案設(shè)計 .......................................................................... 6 總體方案分析 .................................................................................................. 6 本體系統(tǒng)設(shè)計 ........................................................................................ 6 現(xiàn)存問題 ................................................................................................ 7 本課題的開發(fā)具有以下優(yōu)點 ................................................................ 7 機器人基本功能方案 ...................................................................................... 8 抓附方案的選擇 .................................................................................... 8 移動方案的選擇 .................................................................................... 8 總體方案性能分析 .......................................................................................... 9 負(fù)載能力 ................................................................................................ 9 機構(gòu)尺寸 ................................................................................................ 9 移動速度 ................................................................................................ 9 設(shè)計性能指標(biāo) ...................................................................................... 10 第 3 章 結(jié)構(gòu)設(shè)計 ...................................................................................................... 11 電機的選擇 .................................................................................................... 11 試選電機 .............................................................................................. 11 校核電機 .............................................................................................. 12 聯(lián)軸器的選擇 ...................................................................................... 12 滑桿的設(shè)計與校核 ........................................................................................ 13 校核滑桿的抗彎強度 .......................................................................... 13 校核滑桿的抗拉強度 .......................................................................... 18 爪片的設(shè)計 .................................................................................................... 19 畢業(yè)設(shè)計（論文） IV 彈簧的設(shè)計 .......................................................................................... 20 銷的校核 ........................................................................................................ 20 面槽盤形凸輪的介紹 .................................................................................... 21 結(jié)構(gòu)簡圖 .............................................................................................. 21 凸輪曲線的做法 .................................................................................. 21 理論輪廓曲線，工作廓線，基圓，根圓 .......................................... 22 從動件的壓力角α .............................................................................. 22 蝸輪蝸桿的設(shè)計計算 .................................................................................... 23 選擇傳動的類型和精度等級 .............................................................. 23 選擇材料 ,確定許用應(yīng)力 ..................................................................... 23 按齒面接觸疲勞強度進行設(shè)計 .......................................................... 23 蝸輪和蝸桿主要幾何尺寸計算 .......................................................... 25 校核齒根彎曲疲勞強度 ...................................................................... 25 驗算效率 .............................................................................................. 26 精度等級公差和表面粗糙度的確定 .................................................. 26 軸的設(shè)計計算 ................................................................................................ 27 軸的概述 .............................................................................................. 27 軸的設(shè)計及其校核 .............................................................................. 27 軸的設(shè)計 .............................................................................................. 30 平鍵連接（動連接）校核計算結(jié)果 ............................................................ 34 本章小結(jié) ..................................................................