摘要：扫地机器人是结合了移动机器人和清洁机器人并配置微机系统的综合成果，能够实现家庭房间的全自动清洁，其清洁率基本可以达到100%，从而代替人工清洁的繁重。为了完善扫地机器人的技术，如今国内外都对其有重大的研究，并取得一些创新成果，如自动回充功能，全方位定位。本次设计，我比较侧重于结构设计，完成了扫地机器人的移动机构的设计，拖地机构的传动设计，以及吸尘清洁机构的设计。在拖地机构中采用了齿轮传动和同步带传动的设计方案；而移动机构则采用比较简单易懂的三轮式差速移动。外形设计采用传统常见的圆形，可以实现躲避障碍物的功能，并其机体上附有传感器方便定位和信号采集。70715

毕业论文关键词：清洁机；移动机器人；吸尘机构

Structure Design of Swept Robot

Abstract: Swept robotic robot is a combination of mobile robots ，cleaning robots and configure the computer system of comprehensive results, to achieve the home room of automatic cleaning, the cleaning rate can be basically 100%, thus replacing the heavy manual cleaning. In order to improve the technology of sweeping robots, and now both at home and abroad have a major research, and made some innovative achievements, such as automatic recharge function, all-round positioning. This design, I focus more on the structural design, completed the sweeping robot mobile organization design, drag the body of the drive design, and vacuum cleaning mechanism design. In the mopping mechanism used in gear transmission and timing belt drive design; and mobile institutions are relatively easy to understand the three-wheel differential movement. Shape design using the traditional common round, you can achieve the function of avoiding obstacles, and its body with sensors to facilitate positioning and signal acquisition.

Keywords: cleaning machine; mobile robot; vacuuming mechanism

目  录

目录

1引言 1

1.1 选题目的和意义 1

1.2国内外研究现状及展望 2

1.2.1国外研究现状 2

1.2.2国内研究现状 4

1.2.3对扫地机器人的展望 5

2 课题目标 7

2.1 主要任务及技术要求与参数 7

2.2问题的提出 7

2.3设计重点 7

2.4设计难点 8

3.设计方案的拟定 9

3.1移动机构的方案选择 9

3.2传感器的选择 9

3.3拖地机构的选定 10

3.4扫地机器人机构简图及工作原理 11

4.设计计算 13

4.1主动轮的电机选择 13

4.2拖地机构的设计计算 14

4．3齿轮的设计计算 15

4.4同步带传动的设计计算 19

4.5轴的设计计算 21

4.6吸尘机构的设计 24

4.7设计实图分析 25

5. 单片机的选型和传感器的选型