摘要隨著機(jī)器人技術(shù)的發(fā)展，機(jī)器人價值的不斷提高，其應(yīng)用領(lǐng)域不斷擴(kuò)展，人們要求機(jī)器人所完成的任務(wù)也越來越復(fù)雜，如高層建筑物的表面檢測工作，制造過程的復(fù)雜裝配作業(yè)、空間站的維修、海洋勘探以及有害廢料的清理等。這些都是人力所不能完成的。本論文針對鋼材料建筑物的表面檢測工作，采用機(jī)器人來代替人力進(jìn)行高空危險作業(yè)，研究一種用于鋼結(jié)構(gòu)表面檢測用的攀行機(jī)器人，論文結(jié)合攀行檢測機(jī)器人的設(shè)計，對機(jī)器人技術(shù)進(jìn)行了具體的分析，提出了機(jī)器人的整體結(jié)構(gòu)，回轉(zhuǎn)機(jī)構(gòu)和前進(jìn)結(jié)構(gòu)的設(shè)計方案。本文結(jié)合工作的實(shí)際情況，針對如何實(shí)現(xiàn)機(jī)器人攀行以及在對材料表面進(jìn)行檢測工作中出現(xiàn)的問題，參考近幾年機(jī)器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機(jī)、電、軟、硬件各自特點(diǎn)和優(yōu)勢互補(bǔ)的基礎(chǔ)上，對鋼結(jié)構(gòu)檢測用攀行機(jī)器人的整體機(jī)械結(jié)構(gòu)、傳動系統(tǒng)和驅(qū)動裝置進(jìn)行了分析和設(shè)計，提出了一套整體結(jié)構(gòu)設(shè)計和傳動方案。采用伸縮前進(jìn)的機(jī)械結(jié)構(gòu)形式，這種方式能夠提高機(jī)器人前進(jìn)的穩(wěn)定性和操作的靈活性，并對機(jī)器人的前進(jìn)機(jī)構(gòu)，回轉(zhuǎn)機(jī)構(gòu)，升降機(jī)構(gòu)、腳部進(jìn)行了設(shè)計，采用步進(jìn)電機(jī)進(jìn)行驅(qū)動，從而實(shí)現(xiàn)機(jī)器人的運(yùn)動。通過以上各部分的工作，得出了結(jié)構(gòu)簡單、實(shí)用性高、能夠?qū)崿F(xiàn)鋼結(jié)構(gòu)的檢測用機(jī)器人的整體設(shè)計方案和執(zhí)行部件的結(jié)構(gòu)設(shè)計，并且對其他類型機(jī)器人系統(tǒng)的設(shè)計也有一定的借鑒價值。關(guān)鍵詞：鋼結(jié)構(gòu)；機(jī)器人；檢測；結(jié)構(gòu)設(shè)計；ABSTRACTAlong with the robot technical development, the value of the robot continuously raises, its application realm continuously expands, people request the mission that the robot complete it's also more and more complicated, such as the surface examination of the high building work, manufacturing process of complicated assemble the homework, space stand of maintain, the ocean investigate to explore and tidy up of harmful waste etc.All of these be what manpower can't completes.This thesis aims at the surface examination that the steel material anticipates building work, adopt robot to replace manpower to carry on dangerous homework and study a kind of used for the steel structure surface examination to use of climb and go robot, the thesis combines to climb a design of go the examination robot, carried on concrete analysis to the robot technique, put forward the whole structure of the robot and turn round organization and go forward a structural design project.This text combines the actual circumstance of work and aim at how to carry out robot to climb a line and just carry on the problem which examines to appear in the work to the material surface, make reference to for the last few years, condition of robot technique research and development, at well exertive machine, electricity, soft, hardware respectively characteristics and advantage with each other repair of foundation up, to the steel structure examination use to climb whole machine structure of go the robot, spread to move system and drive device carry on analysis and design, put forward a set of whole structure design and spread to move a project.Adopt flexible headway of machine structure form, this kind of way can raise the stability of the robot headway and the vivid of the operation, and to the headway organization of robot, turn-over organization, ascended and descend organization, feet department to carry on a design, the adoption treads to carry on drive into the electrical engineering and carry out sport of robot thus.Pass above the work of each part, got structure simple, onlinetranslation , can carry out steel structure of the examination use the overall design project of the robot and the structure design of the performance parts, and as to it's the design of his type robot system also includes to certainly draw lessons from value.Keyword：Steel structure；Robot；Examine；The structure design；