摘   要

小型全方位家用擦窗机器人是基于壁面移动小型全方位家用擦窗机器人技术，并针对具体的作业对象，具有明确功能的实用小型全方位家用擦窗机器人，其工作在垂直危险的玻璃壁面，能够克服重力的作用，携带清洗设备，是面向现代高层建筑玻璃外墙表面保洁、清洗服务的极限作业小型全方位家用擦窗机器人。本文针对国内家用擦窗幕墙的清洗现状，结合家用擦窗幕墙清洗作业的具体工作环境，开发设计出了一种专用于家用擦窗幕墙清洗的水射流式小型全方位家用擦窗机器人，该小型全方位家用擦窗机器人具有结构新颖、安全可靠、重量轻、效率高的特点。

本次设计一款可以在家用安全擦窗的机器人，要求在擦洗过程中动作顺畅，机构灵活。可以说实现家用安全工作，装置简单、轻便。外形美观，方便拆卸。可实现厚度为5mm-32mm的家用擦窗的擦洗。首先对小型全方位家用擦窗机器人总体方案进行介绍，在此基础上，对小型全方位家用擦窗机器人总体结构进行设计分析。其次重点介绍小型全方位家用擦窗机器人的驱动机构，讨论小型全方位家用擦窗机器人的作业路径及运动控制规划。最后，简单介绍小型全方位家用擦窗机器人的擦洗机构。

关键词：玻璃；家用擦窗；擦洗器；擦洗机构；擦窗机器人

ABSTRACT

Small comprehensive household window machine is based on the wall mobile small comprehensive household window machine technology, and for specific operation object, has a clear function of practical small comprehensive household window machine, its work in the vertical dangerous glass wall, can overcome the role of gravity, carry cleaning equipment, is facing the modern high-rise building glass exterior surface cleaning, cleaning service limit operation of small comprehensive household window machine. In this paper, according to the domestic household window curtain wall cleaning status, combined with household window curtain wall cleaning operation specific working environment, develop and design a kind of dedicated to household window curtain wall cleaning water jet small comprehensive household window cleaning machine, the small comprehensive household window cleaning machine has a novel structure, safe and reliable, light weight, high efficiency.

This design of a robot can be in the home safety window, requirements in the process of scrubbing smooth action, flexible mechanism. It can be said to achieve safe household work, the device is simple and light. Beautiful appearance, easy to remove. Can realize the thickness of 5mm-32mm household cleaning window scrub. First of all, the overall scheme of small household window machine is introduced, on this basis, the overall structure of small household window machine is designed and analyzed. Secondly, focus on introducing the driving mechanism of small household window cleaners, and discuss the operation path and motion control planning of small household window cleaners. Finally, a brief introduction of small household window machine machine scrub mechanism.

Key words: glass; household window cleaning; scrub device; scrub mechanism; window cleaning machine person

目   录

摘   要

ABSTRACT

1 绪论

1.1选题背景及意义

1.2发展现状

1.3发展趋势

1.4研究主要内容

2 小型全方位家用擦窗机器人总体方案设计

2.1 小型全方位家用擦窗机器人设计思想

2.2功能分析

2.3工作原理分析

2.4功能分解

2.4.1电动机

2.3.2传动系统

2.3.3真空吸盘

2.3.4 清洁刷

2.5功能求解

2.6方案评价

2.6.1对各评价目标评分

2.6.2按加权计分法求各方按总分

2.7原理方案简图

2.8 小型全方位家用擦窗机器人总体结构方案

3 小型全方位家用擦窗机器人驱动机构和擦洗机构

3.1 驱动机构分析

3.1.1 驱动方式

3.1.2运动结构和运动规划

3.1.3运动过程控制原理分析

3.1.4外形尺寸选择

3.1.5驱动力分析

3.2擦洗机构分析

4 小型全方位家用擦窗机器人其它元件选择

4.1密封机构

4.2换向阀和溢流阀的选择

5 成本预算与环境分析

5.1 小型全方位家用擦窗机器人调研

5.2 成本预算

5.3 环境分析

总  结

参考文献

致  谢