摘要
针对一种负压吸盘式玻璃幕墙清洗机器人的壁面适应能力进行了分析.根据机器人在壁面上实现吸附、移动作业的工作原理,得到了吸盘吸附力的临界条件.基于流体力学理论,通过实验方法绘制了电风机吸盘系统的工作特性曲线.建立了吸盘系统流体模型,得到了吸盘内负压受外部扰动时的等效电路,并根据负压动态响应分析了吸盘结构参数对其吸附特性的影响关系.建立了控制系统模型,并设计了负压闭环控制系统.现场试验结果表明,机器人能稳定工作,壁面适应能力较好.
This paper investigated the adaptability of a cleaning robot to glass-curtain wall surfaces. The critical conditions of the suction force are derived according to the operating principle of the cleaning robot that can adhere, move and clean on wall surfaces. Based on the fluid mechanics theory, the working curves of the vacuum pumps and the suction cup system are obtained from experiments. The fluid model of the suction cup system is then developed, and the equivalent circuit is obtained when the exterior disturbance occurs. According to the dynamic response of the negative pressure, the relationship between the structural parameters of the suction cup system and its adhering ability is analyzed. The model of control system is found and the closed-loop control system of negative pressure is designed. The field experiments show that the robot can work reliably and has a good adaptability to the wall surfaces.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2006年第7期1157-1160,1165,共5页
Journal of Shanghai Jiaotong University
关键词
清洗机器人
壁面适应能力
工作特性曲线
流体模型
负压闭环控制
cleaning robot
adaptability to wall surfaces
working curve
fluid model
closed-loop control of negative pressure
