气动吸附式爬壁机器人的结构设计
毕业设计说明书（论文）外文摘要
Title: The Structural Design Of Pneumatic Adsorption Wall-climbing Robot.
Abstract
This article is based on the principle of vacuum absorption and the using of pneumatic transmission mode, designed a simple wall-climbing robot. The robot is constituted by a perpendicular institution of both horizontal and vertical. The horizontal structure control the movement of left or right and the longitudinal structure control the movement of up and down. The robot is light weight and can be processed easily; it is designed according to the principle of vacuum absorption and can move on the wall to four directions in the way of foot-walking. The robot uses two large stroke Rod less-cylinders to drive the robot to move on the flat which is parallel to the wall and four small-bore, small stroked Double-cylinders to control the “foot” of the robot to move on the direction which is perpendicular to the wall, The “foot” of the robot is constituted by sixteen vacuum suctions. The whole design is started from the overall structure of the robot, and then designs the pneumatic loop according to the structure of the robot, calculate the corresponding parameters and then choose suitable actuators, connect and fixed components.
Keywords: wall-climbing robot vertical structure vacuum adsorption pneumatic transmission.
目 次
1 引言 1
1.1 爬壁机器人简介 1
1.2 国外爬壁机器人的研究现状 2
1.3 国内爬壁机器人的研究现状 6
1.4 爬壁机器人的发展趋势 7
1.5 课题的目的及意义 9
1.6 课题内容及工作思路 9
2. 机器人的结构设计 10
2.1 吸附方式和移动方式的选择 10
2.2 机构设计 11
2.2.1 移动机构设计 11
2.2.2 吸附机构设计 11
2.2.3 整体机构设计 11
2.3 动作原理 12
3 爬壁机器人的气压传动系统的设计 13
3.1 气压控制回路设计 13
3.2 控制原理 14
4 主要元件选择 15
4.1 气缸的选择 15
4.1.1 无杆气缸的选择。 15
4.1.2 双联气缸的选择 16
4.2 真空发生器、吸盘的选择 17
4.3 其他连接元件的选择 19
4.3.1 两个无杆气缸之间薄板 19
4.3.2 无杆气缸与双联气缸之间的V型块 19