爬杆喷涂机器人系统设计

摘要应用于杆件表面喷涂的爬杆喷涂机器人是一种能够在杆件上自由移动并完成喷涂任务的特种机器人，主要由爬行部分和喷涂部分组成，在杆状城市高层建筑的喷涂领域有广阔的使用前景。本论文介绍了爬杆喷涂机器人的硬件设计和电气控制，进行自主移动机器人的轨迹规划实验。笔者在对国内外爬杆喷涂机器人研究现状及存在问题进行研究之后，阐述了爬杆喷涂机器人的应用前景。在比较各种设计方案的基础上，提出了采用轮式、自锁式爬杆机器人组合电磁阀门控制的喷涂机构的设计方案，同时对自锁式爬杆机器人进行了力学分析以及工作特性的分析，并根据这一方案，设计了爬杆喷涂机器人的驱动轮、U 型框架、喷管等机构直流电机的选型。在完成爬杆喷涂机器人硬件设计之后，根据爬杆喷涂机器人的控制需求，选定 AT89C51 单片机作为控制芯片，设计了直流电机的驱动电路和电磁阀的驱动电路，采用脉冲宽度调制方案对直流电机进行控制，编写了电磁阀门的开关程序。最后进行了移动机器人的轨迹规划的matlab 仿真实验。 58573
毕业论文关键词：爬杆机器人；喷涂；自锁式；电气控制；轨迹规划
Abstract The Climbing Pole and Spraying Robot applied to paint pole is a special robot which can move freely on the rod member and complete the task of the spraying , consist of crawling portion and spraying parts, spraying the field of urban high-rise buildings of the rod has a vast use prospects. This paper describes the hardware design and the track climbing pole electrical control spraying robot autonomously mobile robot planning experiments. The author, after climbing pole at home ,abroad research status and problems spraying robot research, describes the prospect climbing pole painting robot. On the basis of comparison of various design options proposed using wheeled, self-locking pole-climbing robot design combination spray mechanism electromagnetic valve control, as well as self-locking pole-climbing robot analyzes the operating characteristics and mechanical analysis and under this program, designed climbing pole painting robot selection wheels, U-shaped frame, nozzle and other institutions DC motor. After completing the painting robot pole climbing hardware design, according to the control demand climbing pole painting robot selected AT89C51 microcontroller as the control chip, designed DC motor drive circuit and the solenoid valve driving circuit, a pulse width modulation scheme of DC motor control, preparation of the electromagnetic valve switching program. Finally,we make a mobile robot trajectory planning matlab simulation.
Keywords: Pole climbing robot, Painting, Self-locking, Electric control ; Trajectory planning

第一章绪论..1

1.1论文的目的和意义1

1.2国内外研究现状及存在的主要问题..1

1.2.1国内外研究现状1

1.2.2目前存在的主要问题.4

1.3本论文的研究工作及课题支撑.4

1.3.1本论文研究的主要内容4

1.3.2本论文研究对象..4

1.4本章小结5

第二章爬杆喷涂机器人的设计方案6

2.1总体方案分析..6

2.2爬杆模块的方案7

2.2.1爬行模块工作原理的分析.8

2.2.1自锁条件的分析..8

2.2.2载重能力分析.9

2.2.3工作性能分析..10

2.3喷涂模块设计方案.12

2.4本章小节..12

第三章爬杆喷涂机器人硬件的设计.13

3.1SolidWork软件13

3.2爬行喷涂机器人硬件设计准则..13

3.2.1模块化设计基础理论..14

3.2.2爬行喷涂机器人的模块化设计要求..14

3.3爬杆部分硬件设计.15 爬杆喷涂机器人系统设计:http://www.751com.cn/zidonghua/lunwen_63568.html