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机器人 气压 传动系统 控制 硬件 设计 PDF 图纸 CAD 制图 文档

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爬壁机器人气压传动系统及控制硬件设计学生姓名：曾巧芸 班级：050313指导老师：袁坤摘要：目前应用于实际的或文献报道的爬壁机器人的步行机构通常采用基于仿真原理的六足或四足等多足步行机构。本文根据具体要求采用了八足步进机构，设计了一种爬壁机器人的气压传动系统及控制硬件。本机器人的结构简单，由横纵两个垂直的机械结构组成，横向结构实现向左、向右的动作，纵向结构实现向上、向下的动作。该机器人机身采用有机玻璃制造，重量轻、易加工。系统是根据真空吸附原理设计的一个能在垂直墙面上通过脚步行进方式，在4个方向垂直移动的爬壁机器人及其控制系统。由气缸驱动机器人脚步的交替移动以实现在垂直表面的自由移动。控制系统采用单片机控制，通过接收无线遥控信号来实现上升、下降、向左、向右及停止五个基本动作的有序控制，为进一步实现复杂动作及实际应用打下了良好的基础。整个设计从机器人的本体结构开始，然后根据机器人的结构设计相应的气动回路，计算所需参数，选择气动气动系统的各执行元件、控制元件及辅件。再由机器人的动作原理选择单片机型，确定各引脚的接线。无线遥控系统选用了现在普遍使用的TX-2/RX-2，接收电路的引脚与单片机的引脚相连，接收电路接收发射电路发出的信号，通过单片机产生相应输出使机器人完成相应的动作。关键词：爬壁机器人 气压传动 无线遥控 单片机控制 指导老师签名：Wall-climbing robot and control of air pressure drive system and hardware designStudent name: Zeng Qiaoyun Class:050313Supervisor: Yun KunAbstract：Currently applies to actual or reported in the literature of the foot wall-climbing robot usually based on simulation Principle or the six-legged quadruped walking and other agencies. In this paper, according to the specific requirements of the use of stepping foot eight institutions, located Of a wall-climbing robots pneumatic drive system and control hardware. The robot has Simple structure,the horizontal and vertical components of the mechanical structure, horizontal structure to the left, right action, vertical structure upward and downward movements. The robot used plexiglass manufacturing body, light weight, easy processing. The system is based on the principle of the design of the vacuum adsorption. It is a vertical wall in the road on the way through the steps in the direction of vertical movement 4 wall-climbing robot and its control system. Control system uses a single-chip control, wireless remote control signal through the receiver to achieve an increase, decrease, left, right and stop of the five basic moves in an orderly control. It can further the realization of the complexity of action and is a time when the application has laid a good foundation.The whole design of the body structure from the beginning of the robot, and then in accordance with the structural design of the robot corresponding pneumatic circuit to calculate the required parameters, select pneumatic pneumatic system of the implementation of components, control components and accessories. Robot moves from the principle of choice-based single-chip, to establish the connection pin.Optional wireless remote control system is now widely used TX-2/RX-2, the receiving circuit and MCU pin connected to the pin, receiving circuit to receive signals from transmitter, through the single-chip output to enable the robot to produce complete the corre