摘 要
本次畢業(yè)設(shè)計(jì)的主要任務(wù)是中央空調(diào)管道清掃機(jī)器人。在這個(gè)設(shè)計(jì)中驅(qū)動(dòng)系統(tǒng)（運(yùn)動(dòng)機(jī)構(gòu)和執(zhí)行機(jī)構(gòu)）及電機(jī)控制都是核心部分，為了減少其制造成本且保證其在運(yùn)行時(shí)高效，準(zhǔn)時(shí)、準(zhǔn)確的傳送效果。因而需要對(duì)整個(gè)系統(tǒng)的各組成部件穩(wěn)定性能和綜合性能進(jìn)行校值處理。由于該機(jī)器人是適應(yīng)在管道內(nèi)作業(yè)的，其上面帶有拖纜，所以材料、構(gòu)件與輕量化設(shè)計(jì)也無形中是我此次畢業(yè)設(shè)計(jì)的重中之重。

關(guān)鍵詞 空調(diào)管道 清掃系統(tǒng) 清掃小車 傳動(dòng)機(jī)構(gòu)

Abstract
The major task of this graduated design is pipeline clear brush robot. Drive in this design system( sport organization and actuator) and generator control is key and partial , to reduce its manufacturing costs to guarantee it just when running , efficiency is punctual, accurate to deliver effect. So need each composition parts for entire system stability can and integral performance goes on school value handling. Since this robot meets the schoolwork in pipeline, it has towing line above, so, material, component and light quantification design are also the weights in the weight of my graduated design virtually. On the foundation in the analysis of integral performance for various single flat machine chips, it is rear that going on again for working environment and the working way of its chip investigate further. Through for various sheet Pian machine chip combination after and combination synthesis run mode after carry out analysis, I devise a set of comparison simple, operation comparison convenience just efficiency comparison is high generator control system. This system may raise working efficiency.
The special subject of this graduated design task Wall surface hangs the ware person of cleaning machine vacuum absorption affinity and haulage design research .Pass to look up various information and do corresponding practice, strive for to refer for various robot.

Key words: Air conduct Clear brush system Cleaning car Main transfer machinery

目 錄
摘 要 I
Abstract II
第1章 緒論 1
1.1中央空調(diào)管道清掃小車簡(jiǎn)介 1
1.2 中央空調(diào)管道清掃小車的國(guó)內(nèi)外發(fā)展現(xiàn)狀 1
1.3 管道清掃機(jī)器人設(shè)計(jì)的目的和意義 5
1.4 設(shè)計(jì)內(nèi)容 6
第2章 移動(dòng)平臺(tái)結(jié)構(gòu)設(shè)計(jì) 7
2.1 移動(dòng)平臺(tái)總體結(jié)構(gòu)設(shè)計(jì) 7
2.1.1移動(dòng)方式的選擇 7
2.1.2 總體結(jié)構(gòu)方案的確定 7
2.1.3 小車底盤總體基本尺寸的確定 9
2.2 驅(qū)動(dòng)系統(tǒng)結(jié)構(gòu)設(shè)計(jì) 12
2.3 回轉(zhuǎn)平臺(tái)的結(jié)構(gòu)設(shè)計(jì) 13
2.4 中間傳動(dòng)機(jī)構(gòu)設(shè)計(jì)計(jì)算 14
2.4.1齒輪傳動(dòng)的特點(diǎn)和應(yīng)用 14
2.4.2中間級(jí)齒輪傳動(dòng)主要參數(shù)的確定 15
2.4.3驅(qū)動(dòng)軸的校核 20
2.5 小車的運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)分析 26
2.5.1 移動(dòng)平臺(tái)運(yùn)動(dòng)坐標(biāo)系的建立 26
2.5.2 運(yùn)動(dòng)學(xué)模型 27
2.5.3 逆運(yùn)動(dòng)模型 30
2.6 移動(dòng)平臺(tái)動(dòng)力學(xué)分析 30
2.6.1 移動(dòng)機(jī)器人運(yùn)動(dòng)機(jī)理研究 31
2.6.2 電機(jī)的選擇 31
2.6.3 移動(dòng)平臺(tái)在正常環(huán)境下行駛分析 32
2.6.4 機(jī)器人越障過程分析 33
2.6.5 機(jī)器人行走抗傾覆狀態(tài)分析 33
第3章 控制系統(tǒng)的硬件設(shè)計(jì) 35
3.1避障電路 35
3.1.1 障礙物探測(cè)方案的選擇 35
3.1.2 單片機(jī)電路 37
3.1.3 電機(jī)轉(zhuǎn)速控制電路 37
3.1.4 電源電路 38
第4章 電機(jī)的選擇 40
第5章 攝像頭的應(yīng)用 50
第6章 管道清刷機(jī)器人經(jīng)濟(jì)性能評(píng)價(jià)分析 52
6.1 中央空調(diào)管道清刷機(jī)器人的影響及發(fā)展 52
6.2 中央空調(diào)管道清掃機(jī)器人的經(jīng)濟(jì)預(yù)算及分析 52
6.3 中央空調(diào)管道清掃機(jī)器人的性能分析 52
結(jié) 論 53
致 謝 54
參考文獻(xiàn) 55