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南京理工大學(xué)紫金學(xué)院
畢業(yè)設(shè)計說明書(論文)
作 者:
朱海澄
學(xué) 號：
060104225
系：
機械工程系
專 業(yè):
機械工程及自動化
題 目:
氣缸驅(qū)動爬桿機器人的設(shè)計
講師
孫中圣
指導(dǎo)者：
(姓 名) (專業(yè)技術(shù)職務(wù))
郭鋼
副教授
評閱者：
(姓 名) (專業(yè)技術(shù)職務(wù))
2010年 5月
畢業(yè)設(shè)計說明書（論文）中文摘要
隨著科技的進步，機器人已經(jīng)日趨廣泛應(yīng)用于工業(yè)生產(chǎn)和日常生活中。隨著經(jīng)濟的增長，城鎮(zhèn)中隨之矗立起無數(shù)電線桿、路燈桿、大橋斜拉鋼索等高層建筑。長期以來怎樣綠色環(huán)保、高效、低成本的解決這些集實用性與美觀性一體的桿狀城市建筑的清洗、維護問題，一直是環(huán)保工作者們研究的一個課題。
論文針對上述市政工程中需要大量爬桿作業(yè)的需求，研制出一種基于氣動元件的爬桿機器人，該機器人有一定的載重能力，可廣泛替代人工應(yīng)用到市政爬桿作業(yè)中。在比較幾類爬行機構(gòu)的優(yōu)劣的基礎(chǔ)上，確定了機器人本體的大致結(jié)構(gòu),采用氣動元件實現(xiàn)機器人的爬升運動，電機帶動雙向螺旋機構(gòu)運動進行機器人手臂的夾緊。隨后根據(jù)路燈桿的尺寸數(shù)據(jù)，設(shè)計估算出機器人的各零部件的尺寸與質(zhì)量，據(jù)此，確定氣缸和電機的型號。最后，對各個元件進行校核驗算，設(shè)計出爬桿機器人。
關(guān)鍵詞 爬桿機器人 氣缸 攀爬 仿生學(xué)
畢業(yè)設(shè)計說明書（論文）外文摘要
Title Design of pole-climbing robot driven by cylinders
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.
In this paper, a kind of pneumatic pole-climbing robot was designed for satisfying the great demands on pole-climbing tasks in city planning engineering. The robot has certain load capacity. It can be widely used in city planning pole-climbing tasks instead of manpower. Based on compared the merits and demerits of several kind of crawling mechanism， we determine the general structure of robot body， adopt pneumatic components of climbing robot, motor drive two-way spiral movement mechanism motion for the clamping robot arm. Then according to the size of reading data，design of robot estimate the size of components with quality，accordingly, determine the cylinder and motor model. Finally, the test of each element, climb bare-footed robot is designed.
Keywords pole-climbing robot cylinder speel bionics