摘 要

機器人是傳統(tǒng)的機構(gòu)學(xué)與現(xiàn)代電子自動化技術(shù)相結(jié)合的產(chǎn)物，是計算機科學(xué)、控制論、機械學(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，而且將對人類社會產(chǎn)生深遠的影響。
壁面清洗機器人是極限作業(yè)機器人的一個分支，其目的是代替人類，在核工業(yè)、石化企業(yè)、建筑行業(yè)、消防部門、造船等領(lǐng)域中的危險狀態(tài)下作業(yè)，具有極其廣泛的用途和很高的使用價值。自從二十世紀六十年代出現(xiàn)以來，受到人們的廣泛關(guān)注。本文所研究的壁面清洗機器人是用于對光滑的建筑壁面進行清洗的爬行機器人，具有一定實用價值和應(yīng)用前景。
本文首先介紹了國內(nèi)外壁面清洗機器人研究現(xiàn)狀，闡明了本課題研究的目的、意義。針對壁面作業(yè)的特殊情況，提出了一種真空式吸附、框架結(jié)構(gòu)的壁面清洗機器人系統(tǒng)。該機器人采用真空發(fā)生器產(chǎn)生真空吸附力，由地面空壓機產(chǎn)生高壓空氣推動機器人本體上的氣缸實現(xiàn)機器人的平面運動以及腿部的伸縮運動。機器人本體上裝有清洗裝置，它可以對機器人經(jīng)過的路徑進行清洗。該機器人具有自動和手動兩種操作方式，操作簡單方便，工作效率高?？梢园讶藦奈ｋU的高空極限作業(yè)中解脫出來。
壁面清洗機器人的安全吸附和靈活移動是保證高效率清洗的前提條件。為此本文重點進行了機器人的本體結(jié)構(gòu)設(shè)計和氣路設(shè)計，提出了可以相對轉(zhuǎn)動和平動的上下兩層的框架結(jié)構(gòu)，解決了靈活移動問題；為了保證可靠吸附，支撐上下框架的腿部安裝有真空吸盤，吸盤內(nèi)部裝有壓力傳感器，當(dāng)吸附不牢固時另外一組吸盤就不會脫離吸附壁面。對控制系統(tǒng)設(shè)計，立足于操作方便、能實現(xiàn)自動和手動兩種工作模式，本文采用了編程簡便、工作可靠、有良好的人機界面的可編程控制器（PLC）。另外還進行了吸附可靠性計算、動力學(xué)分析等一系列設(shè)計計算。該種機器人結(jié)構(gòu)簡單新穎、控制方便、擦洗效率高。


關(guān)鍵詞： 壁面清洗機器人，真空吸附，可編程控制器


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.
A wall-cleaning robot is of robots for limited operation, aiming to take the place of
human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide
application and high practical value. Wall-cleaning robots have greatly provoked word wide attention ever since it was born in the 1960s. A wall-cleaning robot discussed in this thesis is the robot that sweeps slick vertical wall, It has some practical value and applicable foreground.
The article 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.
The safe adsorption and the agile motion of wall-cleaning robot are the guarantee of high efficiency. For this, the robot body structural design and air circuit design was emphasized in this article. A type of frame configuration was proposed, it can rotate and move relatively, the request of agile motion was satisfied. For the safe adsorption, several vacuum suction cups were fixed on the leg of two frames. There are pressure sensor in suction cup, robot can’t move when one group of suction cups’ attraction is not enough large. The control system design based on the ease of operation and can realize automatic or the manual two kind of work mode. The robot in this article employs the programmable controller, it programming easily, work reliably, and has a good man-machine contact surface. Moreover we also have carried on a series of design calculation include the adsorption reliability computation and dynamics analysis. This robot has a simple novel configuration, a convenient control and high efficiency cleaning.


Keywords: wall-cleaning robot, vacuum suction, the programmable controller


目 錄
摘 要 I
ABSTRACT II
1 緒論 1
1.1 引言 1
1.2 課題目的及意義 2
1.3 國內(nèi)外的研究現(xiàn)狀 3
1.3.1 國外研究現(xiàn)狀 3
1.3.2 國內(nèi)研究現(xiàn)狀 6
1.4 本章小結(jié) 9
2 本次設(shè)計任務(wù) 11
2.1 設(shè)計要求..