摘 要

機器人是傳統(tǒng)的機構(gòu)學與現(xiàn)代電子自動化技術(shù)相結(jié)合的產(chǎn)物，是計算機科學、控制論、機械學、電子技術(shù)等多學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。
在現(xiàn)代都市中，高層建筑越來越多，為了保證建筑外觀的整潔美麗，就需要定期對表面進行清洗，以美化市容。傳統(tǒng)的清洗方法是靠升降臺或吊籃承載清潔工進行玻璃的幕墻的清洗，雖然簡便易行，但勞動強度大，工作效率又低，屬于高空極限作業(yè)，對人身安全及玻璃壁面都有很大的威脅性。爬壁機器人是一種能夠在垂直壁面上自由爬行并完成清洗作業(yè)的移動式服務(wù)機器人。本項目研究的新型多吸盤爬壁機器人及自動清洗系統(tǒng)目標是為高層樓宇平直外壁面的自動清洗提供一套機器人作業(yè)系統(tǒng)，提高清洗工作效率，降低清洗費用，徹底改善清洗人員的工作條件，具有很高的推廣應(yīng)用價值。
本文是整個機器人研究項目的一部分。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。

關(guān)鍵詞：爬壁機器人,真空吸附，多吸盤,氣動系統(tǒng), 清洗裝置

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.
In modern metropolis, high-rise construction more and more many, in order to guarantee the construction outward appearance neat is beautiful, needs regularly to carry on the clean to the surface, beautifies the city's appearance. on the need for regular cleaning of the surface to amenity 。Traditional cleaning methods rely on lifts or cleaners hanging baskets for carrying glass curtain wall cleaning, although simple, However, labor-intensive, low efficiency, high-altitude limit is operating on personal safety and glass wall has great threat。 Wall-climbing robot for cleaning is a kind of mobile service robot, which can climb on the surface of vertical walls and carry out cleaning tasks.。The Auto-cleaning Wall-climbing Robot System discussed in this dissertation aim at providing city construction industry with a highly efficient wall-climbing robot for cleaning glass or tile wall automatically.
This is the whole part of the research project. 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.
Keywords : wall-climbing robots, Vacuum adsorption ，more suckers, pneumatic systems, cleaning device
目錄
1緒 論 1
1.2國內(nèi)外研究現(xiàn)狀分析 2
1.2.1國內(nèi)攀爬機器人研究現(xiàn)狀 2
1.2.2國外攀爬機器人研究現(xiàn)狀 8
1.3爬壁機器人的關(guān)鍵技術(shù) 10
1.4課題的主要任務(wù)及意義 12
1.4.1課題來源及研究意義： 12
1.4.2課題主要任務(wù)： 12
1.5小結(jié) 12
2爬壁機器人氣動系統(tǒng)總體方案確定 13
2.1引言 13
2.2爬壁機器人的系統(tǒng)構(gòu)成 13
2.3機器人吸附方式和驅(qū)動方式的確定 13
2.3.1機器人吸附方式的確定 13
2.3.2機器人驅(qū)動方式的確定 14
2.4爬壁機器人結(jié)構(gòu)設(shè)計 15
2.4.1爬壁機器人本體結(jié)構(gòu) 15
2.4.2爬壁機器人的靜力分析及可靠吸附條件計算 16
2.5爬壁機器人吸附裝置的設(shè)計與選型 18
2.5.1吸附裝置 18
2.5.2真空發(fā)生裝置 21
2.6行走機構(gòu) 23
2.6.1腿部氣缸的設(shè)計計算 23
2.6.2平動氣缸的設(shè)計計算 23
3爬壁機器人氣動系統(tǒng)設(shè)計及元件選型 25
3.1控制及其它氣閥動元件的選取 25
3.1.1方向控制閥的選取 25
3.1.2單向節(jié)流閥的選取 25
3.1.3其他氣動元器件的選取 26
3.2氣路的設(shè)計 28
4清洗裝置的設(shè)計 30
4.1引言 30
4.2清洗裝置的本體結(jié)構(gòu)設(shè)計 30
4.2.1構(gòu)思 30
4.2.2本體結(jié)構(gòu) 30
4.3清洗裝置總體設(shè)計 31
4.3.1傳動方式選擇 31
4.3.2動力源的選擇 32
4.3.3電馬達的選型 32
4.3.4帶傳動設(shè)計 32
4.4清洗裝置零配件列表 33
4.5..