摘要
研制了一种能够爬行在幕墙玻璃上并完成清洗工作的爬壁机器人。机器人采用双侧多吸盘履带式行走机构,在任意时刻至少有6只吸盘处于吸附工作状态。控制系统打破了传统爬壁机器人对大量使用传感器的依赖,巧妙改装并使用带传动控制吸盘的吸排气;一台直流电动机通过蜗轮蜗杆减速机和双侧离合器,带动两侧链轮转动,驱动机器人爬行。真空泵作为吸附动力源;电磁阀与电磁离合器的联动使内侧吸附吸盘个数变化,并提供速度差,实现了转弯功能。文中对防止机器人在壁面发生滑脱和倾翻两种状态进行了力学分析。且其清洗机构依靠滚刷滚动摩擦擦洗玻璃。样机具有控制系统简单、运行可靠、成本低廉的特点。
In this paper, a wall - climbing robot that can both climb on glass curtain wall and wash it is designed. It has bilateral multi - sucker of eaterpillar chain as running gear, and at least 6 suckers are pumped anytime. Control system breaks down the tradition that the control of suckers depend on multitudinous transducer, instead it takes synchronization belt by a litde change to achieve control. A DC motor drives the robot through worm - gear,clutch and chain gear. A vacuum pump creates negative pressure. Working together with electromagnetic valve to change the number of pumped suckers, the electromagnetic dutch can produces speed difference between two sides, and then, make the robot turn a comer. The force analysis in order to verify whether the robot would slide or turn over is showed, and its clean machine washes the wall by friction. The sample robot is easy to control, dependable to run and cheap in cost.
出处
《机械研究与应用》
2009年第4期5-8,共4页
Mechanical Research & Application
