摘要：家庭清扫机器人结合了移动机器人、清扫机器人、传感器技术等等诸多领域的关键技术。通过各个机构的合作作业，来实现室内家具环境的自动化清洁，以此来代替传统的靠人力来清洁的工作，拥有相当广泛的市场前景。43233

本文就小型家庭清扫机器人的机械结构，结合国内外的诸多典型产品的基础上，依照目前的中国国内中低端家庭用户的实际情况，提出了适合中国目前中低端家庭使用的家庭清扫机器人的机械系统部分的设计方案。

家庭清扫机器人机械部分的主要结构分为驱动机构、清扫机构和吸尘机构。本文就这三部分，进行了机构的设计，三维建模和出图。为了更加符合市场的，参考了淘宝上实际的抽风机、扫刷电机、驱动电机减速箱等资料，依照实物，进行了新的设计。设计充分考虑到了中国家庭复杂的家具结构，采用了二轮差速转向，三轮支点的驱动方式，提高了底盘与地面之间的距离，加大了抽风口的面积，使得家庭清扫机器人可以更好地进行家具清洁工作。

毕业论文关键词：家庭清扫机器人；驱动结构；清扫结构；除尘结构；差速变向

Small household cleaning robot system design

Abstract：Home cleaning robot combines mobile robot, cleaning robot key technology, sensor technology, and many other fields. Through cooperation of various agencies work to automate indoor furniture clean environment, in order to replace the traditional work by manpower to clean, it has a very broad market prospects.

In this paper, a small home based cleaning mechanical structure of the robot, to combine the many typical products, in accordance with the actual situation of China's current domestic low-end home users, China has put forward for the low-end household use household cleaning robot design of mechanical parts of the system.

The main structure of household cleaning robot mechanical parts into the drive mechanism, cleaning mechanism and vacuuming mechanism. In this three-part article, we carried out institutional design, 3D modeling and drawing. In order to be more in line with the market, with reference to the actual exhaust fan on scouring treasure, sweeping brush motor, drive motor gear box, etc., in accordance with the kind, for a new design. Design fully into account the Chinese home furnishings complex structure, using two differential steering, three pivot drive mode to improve the distance between the chassis and the ground, increasing the exhaust port area, so that families can be more cleaning robot good furniture cleaning work performed.

Key words：Home Cleaning Robot  Driving structure  Cleaning structures  Dust structure  Differential redirecting

目  录

1  绪论 1

1.1  课题研究的背景 1

1.2  课题设计要求 2

1.2.1  课题的任务内容 2

1.2.2  原始条件及数据 2

1.3  本课题研究的目的 2

1.4  国内外产品研究的现状 3

1.4.1  小型清扫机器人的简介 3

1.4.2  小型清扫机器人的发展过程 4

1.4.3  国外产品研究现状 4

1.4.4  国内产品研究现状 7

1.5  本课题的基本内容、重点、难点 8

1.5.1  本课题的基本内容 8