摘 要
长期以来，高楼大厦的外墙清洗都靠洗墙工人腰间系一根绳子吊在楼宇之间擦洗。这样效率低，易出事故。爬壁机器人的工作速度比人快四倍，能连续作业10多个小时，提高了工作的效率和安全性。
本文的研究内容为墙壁清洁机器人，用于玻璃幕墙的清洁，喷涂墙壁，检查高建筑物，挂条幅等危险工作。
本文主要设计工作包括：
1.说明了机器人设计的目的和设计内容，综述了机器人技术的研究现状。
2.确定了总体方案，使机器人在墙壁上走动，清洁墙壁。用风机将车体底部空气吸出实现吸附功能；用电机带动车轮实现行走、转向功能；两车体间用齿轮连接实现避障功能；用电机带动滚刷旋转实现清洁功能；遥控机器人的清洗工作。
3.进行了选用风机的计算，齿形带设计计算和传动比分配计算。用超越离合器和电磁离合器配合，实现车体与挡风板转向同步。用风机与电磁离合器配合实现机器人单体翻转。
4.完成了对电机、电磁离合器和遥控的控制系统设计及软件编程。
本机器人具有适应壁面能力强、无需真空泵支援，可远程操作等特点。由于本设计为双体吸附、双电池供电，避免了意外断电导致机器摔落。
本机器人竖直方向行走速度10m/min，可携带工具实现高空作业，总重20Kg，可在平行壁面内任意方向转弯。
关键词：爬壁；机器人；双体；遥控

Abstract
ever since a long time ago，the outside walls of high buildings and large mansions are washed by the washing-wall workers washing with a rope winding between the buildings. This way is inefficiency and high-accidents. The working speed of wall-climbing robot is faster than the workers. And can work 10 hours continuously. It is safer and efficient.
The research subject is wall-cleaning robot, which is used to clean the walls made of glass, o paint the walls, to examine the high building or to hang the scroll.
The design specification include :
1. To explain the purpose of the design of the robot and design content, summarize robotics research.
2. To determine the overall program, so that robot walking on walls, cleaning the walls. Fans will be used for the air suction at the bottom of the body to achieve adsorption function; wheels are drived by motor to achieve walking and steering function; two bodies are connected by gears to achieve the obstacle avoidance function; motor drive the sponge whirling to achieve a clean function; remote the robot to clean.
3. To carry out a selection of fan, the belt design calculations and calculated the distribution of the transmission ratio. Overrunning clutch with electromagnetic clutch and with the realization of body panels and a wind shift synchronization. With fans and the realization of the robot with an electromagnetic clutch flip monomer.
4. To complete the electrical, electro-magnetic clutch control system and remote control design and software programming.
The robot has a strong ability to adapt to the wall without vacuum supporting. Since the adsorption catamaran design, dual battery power supply, to avoid the accident resulted in the machine fell off.
模块化设计的目的Vertical direction of the robot walking speed of 10m/min, portable tool for the realization of high-altitude operation, with a total weight 20Kg, parallel to the wall in any direction in turn.
Keywords: wall-climbing; robot; catamaran; remote control