摘要
玻璃幕墙清洗高空作业的“蜘蛛人”存在极大的安全隐患,而现有自动擦窗机器人普遍是单面作业,无法实现高空全范围的清洗工作。设计一款可自动翻越式玻璃幕墙清洁机器人,对其结构、力学性能和可行性进行分析与研究。在机器人直线运动和跨越障碍两种状态下进行静力学分析,得出擦窗机器人各运动状态下的最小吸附力;利用有限元方法对真空箱体进行可行性分析,计算得到清洁机器人在两种工况下密封条的接触应力,从而确定真空箱体所需的真空度,为实际清洁机器人的应用提供理论支持。
The"Spider-Man"working at heights for glass curtain wall cleaning poses great safety hazards.However,the existing automatic window cleaning robots generally work on one side and cannot achieve full range cleaning at heights.An automatic flip-over cleaning robot for glass curtain wall is proposed,and its structure,mechanical properties and feasibility are analyzed and studied.According to the static analysis of the robot in the two states of linear motion and obstacle crossing,the minimum adsorption force of the window-cleaning robot in each state of motion is obtained.The finite element method is used to analyze the feasibility of the vacuum chamber,and the contact stress of the seal strip under two working conditions is calculated,so as to determine the vacuum degree required by the vacuum chamber,providing theoretical guidance for the practical application of the cleaning robot.
作者
卢红煜
秦明旺
王浩坤
李红阳
LU Hongyu;QIN Mingwang;WANG Haokun;LI Hongyang(School of Engineering,Southwest Petroleum University,Chengdu 610500,China)
出处
《机械制造与自动化》
2021年第6期181-185,共5页
Machine Building & Automation
基金
2019年四川省南充市市校合作项目(19SXHZ0045)
西南石油大学省级大学生创新创业训练计划项目(S202010615139)。
关键词
清洁机器人
静力学分析
有限元
可行性分析
cleaning robot
static analysis
finite element
feasibility analysis
