爬杆机器人设计 随着科技的进步，机器人已经日趋广泛应用于工业生产和日常生活中。随着经济的增长，城镇中随之矗立起无数电线杆、路灯杆、大桥斜拉钢索等高层建筑。长期以来怎样绿色环保、高效、低成本的解决这些集实用性与美观性一体的杆状城市建筑的清洗、维护问题，一直是环保工作者们研究的一个课题。 本课题旨在设计一种新型、结构简单、经济适用、操作简便、适用于圆柱状城市设施、且可搭载维护设备的爬杆机器人，用以解决当前城镇中存在的高杆类建筑维护问题，满足人们的需要。通过弹簧的预紧力来实现机器人手爪对杆的抱紧，上下两部分机械手臂的交替夹持与松开，及气缸的伸缩，最终实现爬杆机器人整体的升降过程，其中机械手臂采用电机驱动，直齿圆柱齿轮与丝杠协同传动，完成机械手臂的左右往返运动。通过查阅相关资料，进行机械结构和工作原理分析，确定整体设计方案，选材并对主要零部件进行设计计算。最后，对各个元件进行校核验算，设计出爬杆机器人。 关键词: 爬杆机器人；机械；设计；夹持 Abstract With the development of the science and technology, robotics have become more widely used in industrial production and daily life. With the growth of the economic, there are a lot of high-rise buildings such as the poles，the road poles and cable-stayed bridges appeared in the numerous cities and towns. How to solve the cleaning and maintenance of these sets with green environmental, highly efficient and low-cost method integrating with the aesthetics and practicability, which is subject of study for environ-mental protection workers for a long time. The purpose of this project is to design a new type of pole climbing robot with simple structure, economic applicability, simple operation, suitable for cylindrical urban facilities, and can be equipped with maintenance equipment, so as to solve the maintenance problems of high pole buildings in cities and towns and meet people's needs. Through the spring's preload force, the robot's claw is held to the pole, the simultaneous interpreting and loosening of the upper and lower two parts of the mechanical arm and the expansion of the cylinder, and finally the whole lifting process of the climbing robot is realized, in which the mechanical arm is driven by a motor, and the straight cylindrical gear and the screw rod are coordinated to drive the left and right movements of the mechanical arm By consulting the relevant information, the mechanical structure and working principle are analyzed to determine the overall design scheme, material selection and design calculation of the main parts Finally, the test of each element, climb bare-footed robot is designed. Key Words: pole climbing robot; machinery; design; clamping 目 录 1 绪 论 1 1.1 课题研究背景 1 1.2 论文研究的目的和意义 2 1.3 国内外研究现状以及存在的问题 3 1.3.1 爬杆机器人的分类 3 1.3.2 国内外研究现状 3 1.3.3 国内发展状况 4 1.3.4 主要存在的问题 4 1.4 本设计的研究工作 5 2 爬杆机器人方案选择 6 2.1 仿生机器人概述 6 2.2 总体方案分析 7 2.3 本章小结 8 3 爬杆机器人的结构方案设计 9 3.1 整体结构设计 9 3.2 爬行机器人本体结构设计准则 9 4 主要零部件的设计计算 13 4.1 电机的选择 13 4.2 齿轮的设计计算 13 4.2.1 齿轮的材料选择 13 4.2.2 齿轮的数据计算选定齿轮类型、精度、材料及齿数 13 4.2.3 按齿面接触疲劳强度设计 14 4.2.4 按齿根弯曲疲劳强度设计计算 15 4.2.5 几何尺寸计算 16 4.3 轴的设计计算 17 4.3.1 轴的数据计算 17 4.3.2 轴的结构设计 17 4.4 滑动螺旋丝杠传动的设计计算及校核 18 4.4.1 传动螺纹选择 19 4.4.2 耐磨性计算及选材 19 4.4.3 校核验算 19 4.5 联轴器 21 4.6 其他各零部件的设计 22 4.7 本章小结 23 5 爬杆机器人运动原理分析 24 6 总结与展望 25 6.1 工作总结 25 6.2 今后展望 25 参考文献 27
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