2936 家用清掃機(jī)器人設(shè)計(jì)
2936 家用清掃機(jī)器人設(shè)計(jì),家用,清掃,打掃,機(jī)器人,設(shè)計(jì)
湘潭大學(xué)興湘學(xué)院畢業(yè)設(shè)計(jì)說(shuō)明書(shū)題 目： 家用清掃機(jī)器人的結(jié)構(gòu)設(shè)計(jì) 專 業(yè)： 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 學(xué) 號(hào)： 2008963304 姓 名： 熊壯 指導(dǎo)教師： 秦衡峰 完成日期： 2012 年 5月 29日 湘潭大學(xué)興湘學(xué)院畢業(yè)論文（設(shè)計(jì)）任務(wù)書(shū)論文（設(shè)計(jì)）題目： 家用清掃機(jī)器人的結(jié)構(gòu)設(shè)計(jì) 學(xué)號(hào)： 2008963304 姓名： 熊壯 專業(yè)：機(jī)械設(shè)計(jì)制造及其自動(dòng)化 指導(dǎo)教師： 秦衡峰老師 系主任： 周友行老師 一、主要內(nèi)容及基本要求主要內(nèi)容： 家用清掃機(jī)器人是以電動(dòng)機(jī)為動(dòng)力，從電機(jī)出來(lái)通過(guò)蝸桿從而能帶動(dòng)蝸輪，再通過(guò)帶傳動(dòng)將動(dòng)力傳導(dǎo)到清掃機(jī)構(gòu)的皮帶輪上，然后通過(guò)皮帶輪帶動(dòng)清掃軸轉(zhuǎn)動(dòng)，清掃軸轉(zhuǎn)動(dòng)同時(shí)下面直接聯(lián)動(dòng)的毛刷旋轉(zhuǎn)，掃到的灰塵等雜物由吸口吸入，清掃機(jī)器人的清掃吸力由一個(gè)電機(jī)傳動(dòng)的風(fēng)扇提供，灰塵被吸到垃圾儲(chǔ)藏盒中，只要將垃圾儲(chǔ)藏盒取出，即可完成垃圾的清理。本機(jī)器人的移動(dòng)動(dòng)力有兩個(gè)相同的直流電機(jī)驅(qū)動(dòng)，為使電機(jī)轉(zhuǎn)動(dòng)速度控制住，電機(jī)上加油減速器，使得動(dòng)力穩(wěn)定而且合適。 基本要求：最高運(yùn)行速度：0.5m/s， 轉(zhuǎn)彎半徑：0，高度：100mm，寬度：400mm清潔方式：吸塵、掃刷；一次性充電連續(xù)工作時(shí)間：0.5 小時(shí) 二、重點(diǎn)研究的問(wèn)題家用清掃機(jī)器人的結(jié)構(gòu)設(shè)計(jì)和參數(shù)確定； 蝸輪蝸桿的選擇和參數(shù)計(jì)算； 電機(jī)的選取； 帶輪的設(shè)計(jì)及帶的選取等 三、進(jìn)度安排序號(hào) 各階段完成的內(nèi)容 完成時(shí)間1 熟悉課題、調(diào)研、收集資料、撰寫(xiě)開(kāi)題報(bào)告 第 1-2 周2 方案設(shè)計(jì) 第 3-5 周3 總體設(shè)計(jì)、設(shè)計(jì)計(jì)算 第 6-7 周4 繪裝配圖及主要零件圖 第 8-10 周5 撰寫(xiě)說(shuō)明書(shū)、翻譯資料、準(zhǔn)備答辯 第 11-13 周678四、應(yīng)收集的資料及主要參考文獻(xiàn)1 機(jī)械設(shè)計(jì)手冊(cè)編委會(huì). 機(jī)械設(shè)計(jì)手冊(cè)M. 北京：機(jī)械工業(yè)出版社，20042 羅迎社主編. 材料力學(xué) M. 武漢：武漢理工大學(xué)出版社， 20073 于駿一 鄒青編主編. 機(jī)械制造技術(shù)基礎(chǔ) M. 北京：機(jī)械工業(yè)出版社，20044 濮良貴、紀(jì)名剛主編. 機(jī)械設(shè)計(jì) M. 北京：高等教育出版社， 20065 周良德 朱泗芳 楊世平主編. 現(xiàn)代工程圖學(xué) M. 長(zhǎng)沙：湖南科學(xué)技術(shù)出版社，20086 岑軍健主編. 新編非標(biāo)準(zhǔn)設(shè)備設(shè)計(jì)手冊(cè) M. 北京：國(guó)防工業(yè)出版社，19997 吳宗澤 宋寶玉主編. 機(jī)械設(shè)計(jì)課程設(shè)計(jì)指導(dǎo)書(shū) M. 北京：高等教育出版社，20098 杜祥琪編著. 工業(yè)機(jī)器人及其應(yīng)用 M. 北京：機(jī)械工業(yè)出版社， 19869 關(guān)慧貞 馮辛安主編. 機(jī)械制造裝備設(shè)計(jì) M. 北京：機(jī)械工業(yè)出版社，201110 鄒青編 . 機(jī)械制造技術(shù)基礎(chǔ)課程設(shè)計(jì)指導(dǎo)教程 M. 北京：機(jī)械工業(yè)出版社，200411 王秀貴 曹江蓮編著. C 語(yǔ)言程序設(shè)計(jì)教程 M. 北京：中國(guó)鐵道出版社，200812 新版機(jī)械設(shè)計(jì)手冊(cè) M. 北京：機(jī)械工業(yè)出版社， 200413 上海市機(jī)械工程學(xué)會(huì)編. 簡(jiǎn)明實(shí)用機(jī)械手冊(cè) M. 北京：機(jī)械工業(yè)出版社，199l14 宗光華等編著 . 機(jī)器人的創(chuàng)意設(shè)計(jì)及實(shí)踐 M. 北京：北京航空航天大學(xué)出版社，2004,60-6815 國(guó)家教委高等教育司北京市教育委員會(huì)編 . 高等學(xué)校畢業(yè)設(shè)計(jì)(論文) 指導(dǎo) M.北京：經(jīng)濟(jì)日?qǐng)?bào)出版社，200216 蔡自興主編. 機(jī)器人學(xué) M. 北京：清華大學(xué)出版社湘潭大學(xué)興湘學(xué)院畢業(yè)論文（設(shè)計(jì)）評(píng)閱表學(xué)號(hào) 2008963304 姓名 熊壯 專業(yè) 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 畢業(yè)論文（設(shè)計(jì)）題目： 家用清掃機(jī)器人的結(jié)構(gòu)設(shè)計(jì) 評(píng)價(jià)項(xiàng)目 評(píng) 價(jià) 內(nèi) 容選題1.是否符合培養(yǎng)目標(biāo)，體現(xiàn)學(xué)科、專業(yè)特點(diǎn)和教學(xué)計(jì)劃的基本要求，達(dá)到綜合訓(xùn)練的目的；2.難度、份量是否適當(dāng)；3.是否與生產(chǎn)、科研、社會(huì)等實(shí)際相結(jié)合。能力1.是否有查閱文獻(xiàn)、綜合歸納資料的能力；2.是否有綜合運(yùn)用知識(shí)的能力；3.是否具備研究方案的設(shè)計(jì)能力、研究方法和手段的運(yùn)用能力；4.是否具備一定的外文與計(jì)算機(jī)應(yīng)用能力；5.工科是否有經(jīng)濟(jì)分析能力。論文（設(shè)計(jì)）質(zhì)量1.立論是否正確，論述是否充分，結(jié)構(gòu)是否嚴(yán)謹(jǐn)合理；實(shí)驗(yàn)是否正確，設(shè)計(jì)、計(jì)算、分析處理是否科學(xué)；技術(shù)用語(yǔ)是否準(zhǔn)確，符號(hào)是否統(tǒng)一，圖表圖紙是否完備、整潔、正確，引文是否規(guī)范；2.文字是否通順，有無(wú)觀點(diǎn)提煉，綜合概括能力如何；3.有無(wú)理論價(jià)值或?qū)嶋H應(yīng)用價(jià)值，有無(wú)創(chuàng)新之處。目錄摘要 1第一章 前言1.1題目要求 31.2國(guó)內(nèi)外相關(guān)產(chǎn)品研究 41.2.1 國(guó)外產(chǎn)品研究狀況 41.2.2 國(guó)內(nèi)產(chǎn)品研究狀況 91.2.3 自主充電技術(shù)發(fā)展現(xiàn)狀 101.3研究的目的和意義 111.4設(shè)計(jì)的重點(diǎn)和難點(diǎn) 11第二章 家庭清潔機(jī)器人的關(guān)鍵技術(shù) 2.1傳感技術(shù) 122.2路徑規(guī)劃技術(shù) 122.3吸塵技術(shù) 綜合評(píng)價(jià)本設(shè)計(jì)選題綜合性較強(qiáng)，符合機(jī)械專業(yè)培養(yǎng)目標(biāo)和要求；題目難度適中，與工業(yè)生產(chǎn)實(shí)際結(jié)合緊密。該生具有較強(qiáng)的查閱文獻(xiàn)和綜合歸納資料的能力，綜合應(yīng)用本科所學(xué)知識(shí)能力較強(qiáng)；計(jì)算機(jī)應(yīng)用能力較好，英文水平及應(yīng)用不錯(cuò)。論文立論正確，論述比較充分，整體結(jié)構(gòu)尚可；設(shè)計(jì)與計(jì)算科學(xué)，技術(shù)用語(yǔ)準(zhǔn)確，圖紙完備，引文規(guī)范。論文文字通順，該設(shè)計(jì)具有一定的實(shí)際應(yīng)用價(jià)值。同意參加答辨。評(píng)閱人： 2011 年 月 日122.4電源技術(shù) 13第三章 清潔機(jī)器人的機(jī)械設(shè)計(jì)3.1機(jī)械結(jié)構(gòu)組成和工作原理 133.1.1 機(jī)械結(jié)構(gòu)組成 143.1.2 工作原理 163.2清潔機(jī)器人總體設(shè)計(jì) 173.2.1 機(jī)器人外形設(shè)計(jì) 173.2.2 機(jī)器人的行走機(jī)構(gòu)設(shè)計(jì) 183.2.3 清掃機(jī)構(gòu)的設(shè)計(jì) 183.2.4 吸塵機(jī)構(gòu)設(shè)計(jì) 213.2.5 垃圾收集處理機(jī)構(gòu)設(shè)計(jì) 22第四章 具體計(jì)算4.1電機(jī)選擇 244.2 蝸輪蝸桿的選擇 254.3 清掃機(jī)構(gòu)電機(jī)的選擇 264.4 家用清掃機(jī)器人電池的選用 264.5 清掃機(jī)構(gòu)中蝸桿上軸承的壽命的計(jì)算 274.6 清掃機(jī)構(gòu)中渦輪軸的校核 28第五章 總結(jié)和展望5.1 發(fā)展趨勢(shì) 305.1.1 高度智能化 305.1.2 功能擴(kuò)展 305.1.3 低成本化 305.2展望 30參考文獻(xiàn) 31致謝 32附錄 33外文文獻(xiàn) 33中文翻譯 401摘要近年來(lái)，隨著計(jì)算機(jī)技術(shù)與人工智能科學(xué)的飛速發(fā)展，智能機(jī)器人技術(shù)逐漸成為現(xiàn)代機(jī)器人研究領(lǐng)域的熱點(diǎn)。其中，服務(wù)機(jī)器人開(kāi)辟了機(jī)器人應(yīng)用的新領(lǐng)域。服務(wù)機(jī)器人的出現(xiàn)主要有三大原因：一是勞動(dòng)力成本的上升；二是人類想擺脫枯燥乏味的體力勞動(dòng)，如清潔、家務(wù)、照顧病人等；三是人口的老齡和社會(huì)福利制度的完善也為某些服務(wù)機(jī)器人提供了廣泛的市場(chǎng)應(yīng)用前景。服務(wù)機(jī)器人區(qū)別于工業(yè)機(jī)器人的一個(gè)主要特征就是服務(wù)機(jī)器人是一種適用于具體的方式、環(huán)境及任務(wù)過(guò)程的機(jī)器人系統(tǒng)，其活動(dòng)空間大，具有在非結(jié)構(gòu)環(huán)境下的移動(dòng)性，因此服務(wù)機(jī)器人大多數(shù)是移動(dòng)機(jī)器人。隨著社會(huì)的發(fā)展需要，服務(wù)機(jī)器人已經(jīng)滲透了我們的生活、工作和經(jīng)濟(jì)方面，并且起到了很大的作用。服務(wù)機(jī)器人的研究和發(fā)展對(duì)我們的經(jīng)濟(jì)發(fā)展有很多的影響。這片文章主要通過(guò)闡述清潔機(jī)器人在服務(wù)行業(yè)的重要性，對(duì)機(jī)器人在各國(guó)發(fā)展?fàn)顩r的一些綜述，讓讀者了解將來(lái)機(jī)器人發(fā)展對(duì)社會(huì)發(fā)展的重要性，文章還寫(xiě)了本人對(duì)我國(guó)機(jī)器人現(xiàn)狀的一些調(diào)查和理解看法，在機(jī)器人發(fā)展中存在的一些影響因素，還有對(duì)機(jī)器人使用領(lǐng)域的一些展望。關(guān)鍵詞：機(jī)器人：清潔機(jī)器人：運(yùn)動(dòng)原理：清潔方式2ABSTRACTIn recent years，along with the computer technology and the rapid development of artificial intelligence，intelligent robot technology gradually become modern robot research hotpots Among them， service robot， opened a new field of application of robots Service robots appeared three main reasons：one is rising labor costs. Second is the human to escape the boring physical labor, such as cleaning，housework and patient care，etcThe population is aged 3 and social welfare system for certain service robot also provides a broad application prospect in the marketService robots in industrial robots is one of the main features of service robot is a suitable way environment and the specific tasks of the robot system，the process of large space activities in unstructured environment，has the high mobility. So most of the mobile robot is service robotsWith the development of society, we service robots have infiltrated the life，work and economic aspects，and play a very significant roleService robot research and development of our economic development has a lot of influenceThis article mainly elaborated through cleaning robot in the importance of service industry in the world，robot is reviewed the development of some future robots，let the reader know the importance of the development of social development，the article also wrote himself in the situation of robot，investigation and understanding in robot in some influencing factors，and to use the domain of robotKey words：Robots ：cleaning robot：sports principle：clean way3第一章 前言1.1題目要求近年來(lái)，隨著計(jì)算機(jī)技術(shù)與人工智能科學(xué)的飛速發(fā)展，智能機(jī)器人技術(shù)逐漸成為現(xiàn)代機(jī)器人研究領(lǐng)域的熱點(diǎn)。其中，服務(wù)機(jī)器人開(kāi)辟了機(jī)器人應(yīng)用的新領(lǐng)域。服務(wù)機(jī)器人的出現(xiàn)主要有三大原因：一是勞動(dòng)力成本的上升；二是人類想擺脫枯燥乏味的體力勞動(dòng)，如清沽、家務(wù)、照顧病人等；三是人口的老齡和社會(huì)福利制度的完善也為某些服務(wù)機(jī)器人提供了廣泛的市場(chǎng)應(yīng)用前景。服務(wù)機(jī)器人區(qū)別于工業(yè)機(jī)器人的一個(gè)主要特征就是服務(wù)機(jī)器人是一種適用于具體的方式、環(huán)境及任務(wù)過(guò)程的機(jī)器人系統(tǒng)，其活動(dòng)空間大，具有在非結(jié)構(gòu)環(huán)境下的移動(dòng)性，因此服務(wù)機(jī)器人大多數(shù)是移動(dòng)機(jī)器人。自動(dòng)進(jìn)行房間地而清潔的自主吸塵式家庭服務(wù)機(jī)器人，集機(jī)械學(xué)、電子技術(shù)、傳感器技術(shù)、計(jì)算機(jī)技術(shù)、控制技術(shù)、機(jī)器人技術(shù)、人工智能等諸多學(xué)科為一體。自主吸塵機(jī)器人作為智能移動(dòng)機(jī)器人實(shí)用化發(fā)展的先行者，其研究始于 20 世紀(jì) 80 年代，到目前為止，已經(jīng)產(chǎn)生了一些概念樣機(jī)和產(chǎn)品。吸塵機(jī)器人的發(fā)展，帶動(dòng)了家庭服務(wù)機(jī)器人行業(yè)的發(fā)展，也促進(jìn)了移動(dòng)機(jī)器人技術(shù)、圖像和語(yǔ)音識(shí)別、傳感器等相關(guān)技術(shù)的發(fā)展本次設(shè)計(jì)的題目家庭清沾機(jī)器人就是在這種背景下提出的，其具體設(shè)計(jì)要求如下：設(shè)計(jì)家庭清潔機(jī)器人的工作內(nèi)容和要求：運(yùn)行機(jī)構(gòu)形式：輪式最高行進(jìn)速度：0.5ms轉(zhuǎn)彎半徑:0高度:0.0468NS2F所以軸承 1 壓緊，軸承 2 放松所以 A1=0.0618N,A2=0.0468N A1A2，所以只需要校核軸承 1 即可因?yàn)?A/R=0.0618/0.1405e選取 X=1，Y=0，fp=1.0所以 P=fp（XR+YA）=1.0*(1*0.1405+0*A)=0.1405所以 = = =1.08*hL106603000(2.751030.1405)3所以符合要求。4.6 清掃機(jī)構(gòu)中渦輪軸的校核軸上能使產(chǎn)生彎矩的力有 Fr，F(xiàn)tFr=0.081N30Ft=0.015N兩個(gè)力在相互垂直的兩個(gè)平面上，L=69mm，D=12mm 如下兩個(gè)視圖 4-3做彎距圖如 4-4 所示Mr=0.25FrL=0.250.08169=1.40N.mmMt=0.25FtL=0.250.01569=0.3N.mm合成彎矩 M= =1.43N.mm2+2= = = = 1.43/(0.1123)=0.01M/ 蟺 332/(0.13 ) mm2由于前面已經(jīng)選定軸的材料為 45 鋼，調(diào)制處理，查表 =60N.mm，故31符合強(qiáng)度要求。第五章 總結(jié)也展望5.1發(fā)展趨勢(shì)雖然自主吸塵機(jī)器人的研究已經(jīng)取得了很大進(jìn)步，進(jìn)入了實(shí)用階段，但是自主能力、工作效率方面還不理想，需要在技術(shù)上解決傳感器技求、定位和環(huán)境建模技術(shù)，再次基礎(chǔ)上，自主吸塵機(jī)器人可以向著高度智能化、多功能集成、低成本的方向發(fā)展。5.1.1高度智能化現(xiàn)在的自主吸塵機(jī)器人在行為上還處于“低級(jí)生物”的階段，環(huán)境感知能力有限，對(duì)路徑的規(guī)劃只是隨機(jī)的方式或者基于局部環(huán)境信息的規(guī)劃方式，在復(fù)雜環(huán)境和多房間的環(huán)境下，這種工作方式的效率會(huì)銳減，因此，建立 CCD 視覺(jué)系統(tǒng)，融合多種傳感囂進(jìn)行定位和環(huán)境建模，實(shí)現(xiàn)全局路徑規(guī)劃，將是一個(gè)重要的研究方向同時(shí)，算法必須考慮系統(tǒng)的處理速度、存儲(chǔ)空間的限制。5.1.2功能擴(kuò)展自主吸塵機(jī)器人是一個(gè)可移動(dòng)的智能平臺(tái)，在吸塵功能之外可以進(jìn)行功能拓展，比如進(jìn)行家電控制房間環(huán)境檢測(cè)（防止火災(zāi)電器故障盜竊等)這方面的市場(chǎng)需求已經(jīng)被 Tmsuk 和三洋公司抓住并在 2002 年發(fā)布了兩款這樣的機(jī)器人.5.1.3 低成本化智能機(jī)器人是一個(gè)復(fù)雜的系統(tǒng)，使用了大量的傳感器和一個(gè)或者多個(gè)高性能的微處理器，因此成本較高但是為了讓普通人都可以享受科技進(jìn)步的成果，降低成本是個(gè)必由之路。5.2展望盡管目前價(jià)廉物美的吸塵器給人們的清潔工作帶來(lái)了一定的便利，但過(guò)大的噪音依然讓大多數(shù)使用者望而卻步吸塵機(jī)器人作為服務(wù)機(jī)器人領(lǐng)域中的一個(gè)新產(chǎn)，將使人們能在無(wú)人看守情況下輕松地完成室內(nèi)環(huán)境的吸塵等清潔工作。因此只要生產(chǎn)成本兼顧到日用電器批量大，價(jià)格低的特點(diǎn)，吸塵機(jī)器人將具有誘人的市場(chǎng)前景，有關(guān)資料也預(yù)測(cè)吸塵機(jī)器人是未來(lái)幾年需求量最大的服務(wù)機(jī)器人。特別是日用清潔電囂不論是在市場(chǎng)上或者是在產(chǎn)品的創(chuàng)新上絕對(duì)是所有小家電產(chǎn)品中最活躍的未來(lái)仍有相當(dāng)大的成長(zhǎng)空間盡管目前國(guó)內(nèi)外在吸塵機(jī)器人研究開(kāi)發(fā)當(dāng)面已取得了一定的成果，但成本過(guò)高很許多關(guān)鍵技術(shù)問(wèn)題上亟待32解決或提高，主要有以下幾個(gè)方面：(1)目前，價(jià)格過(guò)高是嚴(yán)重影響吸塵機(jī)器人打入家電市場(chǎng)的主要因素，因此為了大幅度降低其成本我們必需開(kāi)發(fā)專用運(yùn)動(dòng)控制和數(shù)字處理芯片以及微型傳感器其次，應(yīng)該看到藍(lán)牙技術(shù)在家電行業(yè)的應(yīng)用前景、通過(guò)采用藍(lán)牙技術(shù)將過(guò)高的數(shù)字處理器成本轉(zhuǎn)移到用戶的個(gè)人電腦上則有望在短期內(nèi)將吸塵機(jī)器人的成本控制在千元左右。(2)未來(lái)的吸塵機(jī)器人將向智能化和自主式發(fā)展，因此我們必須結(jié)合現(xiàn)有的基于自適應(yīng)控制、模糊邏輯、遺傳算法等的移動(dòng)機(jī)器人運(yùn)動(dòng)規(guī)劃和控制技術(shù)，研究開(kāi)發(fā)出對(duì)環(huán)境變化具有良好的自適應(yīng)性和魯棒性對(duì)環(huán)境障礙物具有安全可靠的防碰撞功能的智能運(yùn)動(dòng)規(guī)劃與控制器，使吸塵機(jī)器人完成與人工操作質(zhì)量相同的甚至更好的吸塵工作。(3)為了有效地提高清潔的質(zhì)量，還需要對(duì)現(xiàn)有的吸塵技術(shù)進(jìn)行改進(jìn)根據(jù)環(huán)境的臟潔程度，采用模糊邏輯等技術(shù)設(shè)計(jì)臺(tái)理的吸塵時(shí)間以及相協(xié)調(diào)的機(jī)器人運(yùn)動(dòng)速度確保滿意的吸塵效果。(4)電源技術(shù)是吸塵機(jī)器人的核心之一，除了有效地提高機(jī)器人運(yùn)動(dòng)和吸塵速度以延長(zhǎng)電池的實(shí)際吸塵時(shí)間外，還尚需優(yōu)化自動(dòng)充電方案，保證機(jī)器人能及時(shí)進(jìn)行充電，自動(dòng)完成對(duì)指定環(huán)境的吸塵任務(wù)隨著吸塵機(jī)器人關(guān)鍵技術(shù)和性能價(jià)格比的不斷提高或改進(jìn)，相信根據(jù)現(xiàn)有的軟硬件條件，未來(lái)機(jī)年內(nèi)就會(huì)推出價(jià)格適中的全自動(dòng)吸塵機(jī)器人產(chǎn)品，進(jìn)而使吸塵機(jī)器人能像普通家電產(chǎn)品一樣走進(jìn)千家萬(wàn)戶，為這一高新技產(chǎn)品帶來(lái)可觀的市場(chǎng)和經(jīng)濟(jì)效益。參考文獻(xiàn)1 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C 語(yǔ)言程序設(shè)計(jì)教程 M. 北京：中國(guó)鐵道出版社，2008l2 新版機(jī)械設(shè)計(jì)手冊(cè) M. 北京：機(jī)械工業(yè)出版社，2004l3 上海市機(jī)械工程學(xué)會(huì)編. 簡(jiǎn)明實(shí)用機(jī)械手冊(cè) M. 北京：機(jī)械工業(yè)出版社，199l14 宗光華等編著. 機(jī)器人的創(chuàng)意設(shè)計(jì)及實(shí)踐 M. 北京：北京航空航天大學(xué)出版社，2004,60-6815 國(guó)家教委高等教育司北京市教育委員會(huì)編. 高等學(xué)校畢業(yè)設(shè)計(jì)(論文) 指導(dǎo) M.北京：經(jīng)濟(jì)日?qǐng)?bào)出版社，200216 蔡自興主編. 機(jī)器人學(xué) M. 北京：清華大學(xué)出版社17 孫桓 陳作模 葛文杰主編 . 機(jī)械原理 M . 北京：高等教育出版社 2010致謝本論文是在導(dǎo)師秦衡峰老師的悉心指導(dǎo)和關(guān)懷下完成的。無(wú)論是在選題、課題的研究還是在論文的撰寫(xiě)方面，無(wú)不傾注著導(dǎo)師的心血。導(dǎo)師淵的知識(shí)、精湛的學(xué)術(shù)造詣為本論文的研究指明了方向，導(dǎo)師明銳的洞察力、富有創(chuàng)建的學(xué)術(shù)思想是本論文得以開(kāi)展和順利完成的重要?jiǎng)右?，秦老師?yán)謹(jǐn)?shù)膶W(xué)風(fēng)、一絲不茍的治學(xué)態(tài)度和對(duì)科學(xué)孜孜不倦的執(zhí)著追求時(shí)刻啟迪著我，他誨人不倦、刻苦奉獻(xiàn)的精神以及平易近人的工作永遠(yuǎn)激勵(lì)著我。另外，我還要感謝湘潭大學(xué)興湘機(jī)械班的同學(xué)朋友們，他們?cè)谖夜プx學(xué)士學(xué)位期間給予了大量建議和幫助。我要特別感謝我的父母和親友，感謝他們給予我無(wú)私的理解與莫大的關(guān)懷，他們對(duì)我的支持是我順利完成學(xué)業(yè)的最大動(dòng)力。還要感謝對(duì)論文進(jìn)行評(píng)審、并提寶貴貴意見(jiàn)的各位專家教授。34最后再次向我的導(dǎo)師衷心的感謝和崇高的敬意，也向所有在我攻讀學(xué)位及撰寫(xiě)論文期間給予我?guī)椭那乩蠋煛C(jī)械四班的同學(xué)、親人和朋友表示衷心的感謝。祝湘潭大學(xué)，事業(yè)輝煌，蒸蒸日上！附錄Home cleaning service-oriented development and current situation of the robot1 IntroductionIn recent years, with the rapid development of Chinese industry, cleaner production and sales volume has increased significantly in Chinas market has great vitality. With the social progress and development, peoples material and spiritual improvement of the quality of the urgent need to clean from the heavy work out. Thus the birth of a service-oriented home cleaning robots, mobile robots will be cleaning technology and the organic integration of technology to achieve the family hotels, office buildings and other indoor environment clean and semi-automatic or fully automatic, 35so has a broad market prospects. In this paper, cleaning robots, on the domestic and foreign research and its key technologies are introduced, and the development of cleaning robots in the near future a number of issues were discussed.2 Cleaning robot research at home and abroadIn Europe America and Japan and Other developed countries, the development of cleaning robots earlier, is also a wider range of applications, the last two years, has developed a wide range of market-oriented intelligent cleaning robot.2.1 Japan produced vacuum cleanerJapan some company to promote the family in 2002 to use vacuum cleaner robots trial seize the opportunity 1 in the first half of the year. This robot may when according to the room shape the floor condition, the quantity of refuse carries on the automatic cleaning the work, first along the room all around will walk a memory room shape, then, while avoids the obstacle by vertical, the crosswise way back and forth to move carries on cleanly after the clearing completes, the automatic stopping This vacuum cleaner robot equipment has 50 sensors, but on the other hand on the one hand walks automatically carries on the cleaning. It uses the light and the ultrasonic wave range sensor, the feeling presses the sensor to avoid the obstacle; Built-in has the rotation sensor, uses for to control walks the posture maintains decides marches forward the direction; Has installed the rudder sensor, may examine marches forward the direction error which produces as a result of the rug pattern influence, even if therefore, in the shop has on rugs floor also to be able the straight line advance. In addition, this robot in vivo also installs has prevents heat source and so on dropping variance sensor which, sensation warming stove from high place and so on. Stair rolls down thermal seniors, to examine own receives the external force size definite weight sensor and the skid resistant sensor, the examination increase power load sensor. It may most little maintain with the ordinary obstacle 10 cm the distances but when surveys the heat source, will handle jointly with the heat source will maintain at least 50 cm the distances. Its contour size for wide 292 mm, long 367 mm, high 265 mm, heavy 9.8 kg, the maximum traveling speed is 30 cm/s. When the sensor survey on floors trash, will enhance the suction to usual15 times, simultaneously the traveling speed drop will be 15 cm/s, will carry on the cleaning carefully. Will not be having trash place by the 30cm/s speed migration the suction also 1O reduce, a charge may work 55 min will sweep clear 80 m2 the rooms, will vacuum the power is 90W.2.2 Australias V4 vacuums robotAustralia some company also to develop may go automatically and clean the room the V4 robot. This kind of completely automatic vacuum cleaner surface is smooth, the volume is very small, assumes the circular, the built-in acquisition radar, may search in each kind of room each, will not 36collide the furniture or other obstacles. Micro processes the small computer to cause it have is turning to roof pinnacle place can survey the direction, choice route of advances ability. So long as place the completely automatic vacuum cleaner in the ground, it then may start to work automatically. Its acquisition radar can surveys away from the recent wall, is being suitable the first wall attracts floor dust the foreign matter all around; Then back and forth moves anomalous again in room other positions, and can before the close obstacle changes rapidly. Should vacuum the robot, because 360has provided the obstacle sensor in main engines periphery, therefore may cleans the ground during the examination wall and obstacle; After cleaning the place which may go, robot on automatic shut-off power source. No matter the room contour and the area size, theARNA guidance algorithm guidance robot all not covers up the region movement in any room to carry on the clearing in all directions, because robot guidance along room periphery, therefore it must found her spatial reference diagram, doesnt the robot need any programming where to teach it to go to. This robot simplicity of operator only has 3 buttons：Starts the conclusion as well as the suspension so long as the people in laid aside simply in needed to sweep clear in the region or the room(this kind of completely automatic vacuum cleaner robot was very light, a hand might easy take up it), pressed down starts the button then.2.3 Swiss trilobita vacuum cleaner is small “the trilobita”Is Switzerland develops the production the completely automatic vacuum cleaner. Is small “the trilobita” high 13cm, diameter 35cm, the surface is smooth, assumes the circular, the built-in acquisition radar, may survey rapidly and avoids the table leg, the glassware, the pet or any other obstacles. Once micro processes the small computer to distinguish these obstacles, it may choose the route, and makes to the entire room judges and calculates, guaranteed that the room each corner is swept clear. And so on some do not have the natural barrier place in the staircase stair, so long as has magnet, will be small “the trilobita” then not to surmount. After being small “the trilobita” starts the start, I vivo acquisition radar can survey is away from the recent wall, is being suitable the first wall attracts floor dust and the foreign matter all around, it then can survey like the entire room the pattern, calculates time which the cleaning entire room needs. So long as a close obstacles, it will then establish the line of march, will not leave out each corner. Is small “the trilobita” attracts brushes installs the Chinese dress to have a patent design pulley, may cross the electric wire or the rug edge, is not impeded. When power source insufficiency, will be small “the trilobita” to return to charge automatically Booth to charge voluntarily. If this time room did not have the cleaning to finish, is small “the trilobita” to have the memory function, after sufficient good electricity, return to the original position to continue to vacuum.2.4 American Rumba (Roomba) vacuum cleaner37By the American some institute artificial intelligence laboratory developments wisdom automatic vacuum cleaner, the utilization artificial intelligence revolution and the guidance detection technology, cleans each inch floor intelligently, the real suction hole which and revolving matching is in sole possession of brushes, the clean effect is specially good. By the American TIME evolution was in 2002 one of coolest inventions. So long as presses down the switch, the Roomba completely automatic will assign the region to vacuum cleans, bumps into obstacle servo-assisted steering, will meet the staircase also automatically to detect cannot fall down, the special real suction hole, revolving will brush with revolving side brush the design, regardless of will be the rug or the floor, clean will be very convenient. Highly only some 10 cm, diameter 34 cm Roomba may with case sneak under the bed bottom or the sofa carries on cleans. The Roomba pattern is by mathematics operation idea design movement route. After Roomba start, will follow the spiral-shaped route revolution, by the helix revolution way which will expand gradually covers the space, when will bump will touch the wall or the furniture and so on large-scale obstacle, its special obstacle induction regulator can resist the wall surface protection fuselage not to receive damages, Roomba along the wall or the furniture advance, by now the body side hair brush sweeps into the corner perhaps the furniture edge sully dust detritus in the vacuum cleaner. Have swept clear part of space after the wall or the furniture, Roomba will transfer a 90direction and sweeps the room according or the above route another head, was so alternately redundant, the screw revolution route to be possible back and forth to attract the room, the cleaning finishes namely the automatic stopping. This only heavy 2.5Kg, selects the charge method the vacuum cleaner convenience to be practical, the selling price is only 200 US dollars, already went on the market in Europe and America.2.5 Domestic present situationDomestic also started the related research development work at present, specially was moving robots movement plan and the control aspect has achieved certain achievement, vacuumed the robot for the research developed the omni-directional motion ground cleaning robot, this robots control system could explain the remote control signal accurately, and to organism issuing working order, momentarily received “the eye”(i.e. infrared light electric switch and supersonic sensor) the sensation four direction exterior barrier information, and requested the robot to make straight line or to change the movement according to the above, marched forward, it did not stop rotates the floor to brush, filled in “the stomach” completed the ground in dust, this kind of robot one time charged works sustainably for a half hour, had the intelligent power source management function, lengthened the running time, the average each minute running speed is 15m. in addition, should vacuum the robot to use the open style robot control structure, realizes the hardware to be 38possible to expand, the software to be possible to transplant, may to integrate, enables the robot to have the better function compatibility as the service carrier.
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