摘 要

機(jī)器人是傳統(tǒng)的機(jī)構(gòu)學(xué)與現(xiàn)代電子自動(dòng)化技術(shù)相結(jié)合的產(chǎn)物，是計(jì)算機(jī)科學(xué)、控制論、機(jī)械學(xué)、電子技術(shù)等多學(xué)科綜合性的高科技產(chǎn)物，是典型的機(jī)電一體化產(chǎn)品。它是一種仿人操作，可使用于各種復(fù)雜環(huán)境。機(jī)器人技術(shù)的出現(xiàn)和發(fā)展，不但可以部分取代人完成各種惡劣環(huán)境下的工作，而且將對(duì)人類社會(huì)產(chǎn)生深遠(yuǎn)的影響。
在現(xiàn)代都市中，高層建筑越來越多，為了保證建筑外觀的整潔美麗，就需要定期對(duì)表面進(jìn)行清洗，以美化市容。傳統(tǒng)的清洗方法是靠升降臺(tái)或吊籃承載清潔工進(jìn)行玻璃的幕墻的清洗，雖然簡便易行，但勞動(dòng)強(qiáng)度大，工作效率又低，屬于高空極限作業(yè)，對(duì)人身安全及玻璃壁面都有很大的威脅性。爬壁機(jī)器人是一種能夠在垂直壁面上自由爬行并完成清洗作業(yè)的移動(dòng)式服務(wù)機(jī)器人。本項(xiàng)目研究的新型多吸盤爬壁機(jī)器人及自動(dòng)清洗系統(tǒng)目標(biāo)是為高層樓宇平直外壁面的自動(dòng)清洗提供一套機(jī)器人作業(yè)系統(tǒng)，提高清洗工作效率，降低清洗費(fèi)用，徹底改善清洗人員的工作條件，具有很高的推廣應(yīng)用價(jià)值。
本文是整個(gè)機(jī)器人研究項(xiàng)目的一部分。首先介紹了國內(nèi)外壁面清洗機(jī)器人研究現(xiàn)狀，闡明了本課題研究的目的、意義。針對(duì)壁面作業(yè)的特殊情況，提出了一種真空式吸附、框架結(jié)構(gòu)的壁面清洗機(jī)器人系統(tǒng)。該機(jī)器人采用真空發(fā)生器產(chǎn)生真空吸附力，由地面空壓機(jī)產(chǎn)生高壓空氣推動(dòng)機(jī)器人本體上的氣缸實(shí)現(xiàn)機(jī)器人的平面運(yùn)動(dòng)以及腿部的伸縮運(yùn)動(dòng)。機(jī)器人本體上裝有清洗裝置，它可以對(duì)機(jī)器人經(jīng)過的路徑進(jìn)行清洗。該機(jī)器人具有自動(dòng)和手動(dòng)兩種操作方式，操作簡單方便，工作效率高?？梢园讶藦奈ｋU(xiǎn)的高空極限作業(yè)中解脫出來。

關(guān)鍵詞：爬壁機(jī)器人,真空吸附，多吸盤,氣動(dòng)系統(tǒng), 清洗裝置

ABSTRACT

Robot is a product of traditional mechanism and modern electronic automatization technology, and it is a synthetic high technology result of many subjects such as computer science, cybernetics, mechanics, information science and electronic. It is a typical product of mechatronics. It is the automatic equipment which can imitate the action of mankind, it is precise and suitable for many kinds of complicated environment. The appearance and development of robot technology will not only replace man to do works that under terrible conditions, but also bring profound influence to the life of human society.
In modern metropolis, high-rise construction more and more many, in order to guarantee the construction outward appearance neat is beautiful, needs regularly to carry on the clean to the surface, beautifies the city's appearance. on the need for regular cleaning of the surface to amenity 。Traditional cleaning methods rely on lifts or cleaners hanging baskets for carrying glass curtain wall cleaning, although simple, However, labor-intensive, low efficiency, high-altitude limit is operating on personal safety and glass wall has great threat。 Wall-climbing robot for cleaning is a kind of mobile service robot, which can climb on the surface of vertical walls and carry out cleaning tasks.。The Auto-cleaning Wall-climbing Robot System discussed in this dissertation aim at providing city construction industry with a highly efficient wall-climbing robot for cleaning glass or tile wall automatically.
This is the whole part of the research project. first introduced the domestic and overseas research situation of wall-cleaning robot, and expounded this articles’ research goal and the significance. Aim at the special circumstance, one type of wall-cleaning robot was proposed, this type of robot adopts vacuum suction cup、frame structure. This robot uses the vacuum generator to gain adsorb power. The compressed air produced by compressor on the ground can drive the cylinder to get plane motion and extend or contraction motion of the legs. A cleaning head was fixed on the robot body. It can clean the area around the moving route of robot. The robot has automatic and manual operating mode. The operation is simple and convenient. The robot’s working efficiency is very high. It can extricate the person from the dangerous work.
Keywords : wall-climbing robots, Vacuum adsorption ，more suckers, pneumatic systems, cleaning device
目錄
1緒 論 1
1.2國內(nèi)外研究現(xiàn)狀分析 2
1.2.1國內(nèi)攀爬機(jī)器人研究現(xiàn)狀 2
1.2.2國外攀爬機(jī)器人研究現(xiàn)狀 8
1.3爬壁機(jī)器人的關(guān)鍵技術(shù) 10
1.4課題的主要任務(wù)及意義 12
1.4.1課題來源及研究意義： 12
1.4.2課題主要任務(wù)： 12
1.5小結(jié) 12
2爬壁機(jī)器人氣動(dòng)系統(tǒng)總體方案確定 13
2.1引言 13
2.2爬壁機(jī)器人的系統(tǒng)構(gòu)成 13
2.3機(jī)器人吸附方式和驅(qū)動(dòng)方式的確定 13
2.3.1機(jī)器人吸附方式的確定 13
2.3.2機(jī)器人驅(qū)動(dòng)方式的確定 14
2.4爬壁機(jī)器人結(jié)構(gòu)設(shè)計(jì) 15
2.4.1爬壁機(jī)器人本體結(jié)構(gòu) 15
2.4.2爬壁機(jī)器人的靜力分析及可靠吸附條件計(jì)算 16
2.5爬壁機(jī)器人吸附裝置的設(shè)計(jì)與選型 18
2.5.1吸附裝置 18
2.5.2真空發(fā)生裝置 21
2.6行走機(jī)構(gòu) 23
2.6.1腿部氣缸的設(shè)計(jì)計(jì)算 23
2.6.2平動(dòng)氣缸的設(shè)計(jì)計(jì)算 23
3爬壁機(jī)器人氣動(dòng)系統(tǒng)設(shè)計(jì)及元件選型 25
3.1控制及其它氣閥動(dòng)元件的選取 25
3.1.1方向控制閥的選取 25
3.1.2單向節(jié)流閥的選取 25
3.1.3其他氣動(dòng)元器件的選取 26
3.2氣路的設(shè)計(jì) 28
4清洗裝置的設(shè)計(jì) 30
4.1引言 30
4.2清洗裝置的本體結(jié)構(gòu)設(shè)計(jì) 30
4.2.1構(gòu)思 30
4.2.2本體結(jié)構(gòu) 30
4.3清洗裝置總體設(shè)計(jì) 31
4.3.1傳動(dòng)方式選擇 31
4.3.2動(dòng)力源的選擇 32
4.3.3電馬達(dá)的選型 32
4.3.4帶傳動(dòng)設(shè)計(jì) 32
4.4清洗裝置零配件列表 33
4.5..