摘要
玻璃幕墙由于保温防潮性能好、实用美观,在城市建筑物中被广泛采用。但是目前对于玻璃幕墙的清洗,还主要是采用人工吊篮作业,工人劳动强度大、危险性高、效率低。受蜘蛛在空中拉动吐丝实现移动的启发,研制了一种由2根柔索驱动的玻璃幕墙清洗机器人。介绍了机器人的基本结构组成,设计了采用蜗杆减速器实现自锁保护功能、多槽主从动辊轮增大绳索摩擦力的机器人驱动部分,由储水罐、控制阀、喷头、清洗刷组成的清洗部分,以及由旋翼实现的机器人墙壁吸附部分。进行了机器人的工作空间计算、机器人运动时柔索收放控制分析和旋翼工作时机器人的受力分析。最后基于双柔索驱动的玻璃幕墙清洗机器人模型样机,进行了沿给定轨迹移动的实验和清洗实验。实验证明机器人满足了设计功能,达到了满意的清洗效果,结果验证了该模型样机的有效性和实用性。
Glass-curtain wall is widely used in city buildings because of its good damp-proof, aesthetic, practical and heat preservation properties. At present, the main way of the glass-curtain wall cleaning is manual cleaning by workers with suspended platform, which has the shortcoming of heavy worker labor intensity, high risk and low efficiency. Inspired by spider moving through pulling the silks in the air, the basic structure of a glass-curtain wall cleaning robot driven by double flexible ropes is presented. The design adopts worm reducer to realize self locking protection;and the robot drive part is designed,which adopts muhislot master-slave roller to increase the rope friction. The cleaning part is composed of water storage tank, control valve, shower nozzle and brush. The wall sucking part is realized by double rotor. The workspace of the robot is calculated. The flexible rope winding and unreeling control of cleaning robot is deduced. The force analysis of cleaning robot is obtained when the double rotor works. A prototype of glass-curtain wall cleaning robot driven by double flexible ropes was established, and the experiments of the robot moving along a preset track and the robot cleaning experiments were conducted. The robot achieves the designed functions and satisfactory cleaning effect. The experiment results verify the validity and practicality of the prototype robot.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2013年第3期494-501,共8页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金项目(51205093
51075105
50675054)
黑龙江省研究生创新科研重点项目(YJSCX2011-004HLJ)
国家大学生创新性实验计划项目(101021405)资助
关键词
清洗机器人
玻璃幕墙
双柔索
运动分析
力分析
cleaning robot
glass-curtain wall
double flexible rope
motion analysis
force analysis
