管道自动清扫机器人设计+CAD图纸
毕业论文关键字：管道清扫；管道机器人；自动行走
Automatic Pipeline Cleaning Robot Design
Abstract: Now, the central air conditioning usage is higher and higher. However, air supply pipe unclean may lead to health problems, make the person feels bosom frowsty, lack of power, long time will seriously affect the health. Dust will enter duct, stick on the inner wall of the air duct, accumulate over a long period and formed a large amount of dust, induce bacterial growth, infectious diseases. This type of pipeline internal structure is complex, artificial cleaning is difficult, high cost and low efficiency. Pipeline cleaning robot can replace artificial and is an effective way to solve the air conditioning and ventilation pipe cleaning. Pipeline automatic cleaning robot automatic walking in the ventilation pipe, complete the cleaning of ventilation pipe wall at the same time. The pipeline automatic cleaning robot greatly reduces resources of cleaning ventilation pipe, enhancing the efficiency of cleaning. It is helpful to urban people's health. Pipeline automatic cleaning robot in this paper through a brush cleaning arm clean pipe wall, cleaning arm can pitch, swing and rotating brush of 90 degrees. Through these actions, robot can fully clean around the inner wall of pipeline. Pipeline automatic cleaning robot use two stepper motors to control two front wheel, supplemented by laser range sensors, robot’s walking and turning can be controlled.
Key words: Pipeline cleaning; Pipeline robot; Automatic walking
目录
1绪论 1
2 课题简介 3
2.1 课题来源 3
2.2 原始条件及数据 3
2.3 设计的技术要求 3
3 方案拟定 4
3.1 整体系统组成 4
3.2 行进系统 5
3.2.1 行进结构 5
3.2.2 行进电机的选择 5
3.2.3 电机安装方式 7
3.3 动力选择 8
3.4 清扫手臂设计 9
3.4.1 毛刷 9
3.4.2 毛刷翻转结构 9
3.4.3 毛刷俯仰结构 10
3.4.4 电机及蜗轮蜗杆箱体安装方式 11
3.5 旋转台设计 12
3.5.1 旋转台结构 12
3.5.2 旋转箱体安装方式 13
3.5.3 电机的安装方式 14
3.6 控制系统 15
3.6.1 控制系统选择 15
3.6.2控制系统安装位置 16
3.7 传感器选择 17
3.7.1 距离传感器的选择 17
3.7.2 距离传感器的安装 19
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