【作者】 郭秀丽；

【导师】 郭玉申； 洪鹰；

【作者基本信息】 天津大学 ， 机械设计及理论， 2005， 硕士

【摘要】 使用壁面清洗机器人进行高层建筑壁面自动清洗,其关键技术为机器人的载体方式及清洗技术。本文研究的目的是设计一种更可靠,适应面更广的高层建筑清洗作业系统,以提高清洗效率,彻底改善清洗人员的工作条件,该机器人因此具有极高的推广应用价值。本文作者通过查阅大量国内外文献资料,对国内外爬壁机器人包括壁面清洗机器人的技术研究现状进行系统分析,提出一种新型的载体方式,并基于技术实现的考虑,深入分析了该机器人在理论和实际开发中存在的技术难点,研制了串联索控壁面清洗机器人。所研制的机器人具有较强的楼面适应能力,清洗效率高,清洗效果好,节约用水,可靠性高等特点。串联索控方式的壁面清洗机器人由载体机构、清洗机构、张力控制机构三部分组成,清洗机构又包括清洗作业装置、风机推进装置、液压顶起装置、底轮机构。本文进行了该清洗机器人的结构设计,并在此基础上对机器人进行了运动分析及上行工作过程中的动力学分析,充分考虑了高空风力的作用,提出了机器人运行走偏的补偿方法。另外,对壁面清洗机器人的控制方案进行了初步研究。根据机器人的结构及运动特点,采用分布式控制方式,并对主要硬件进行了选型,保证了清洗机器人系统整体可靠性、实用性。机器人载体方式一直是爬壁机器人亟待解决的问题,本文有针对性地对串并联索控方式进行了分析,为此类载体方式机器人的设计提供了理论依据,对其他类型的机器人设计也有一定的借鉴作用。更多还原

【Abstract】 In using Wall-cleaning Robots for high-rise buildings, as the mean ofwall-cleaning automation process, two key technique questions should be solved.They are carrier fashion and wall-cleaning technique. A kind of more reliable,adaptable to more walls, more efficient wall-cleaning robot is designed in thisdissertation.Based on having read lots of home and abroad reference materials and analyzedsystemly the development situation of wall-climbing robots including wall-cleaningrobots for skyscrapers, this paper puts forward a new type of carrier fashion. And inthis paper, the Serial-Cable Control Wall-cleaning Robot for High-rise Buildings isdeveloped after analyzing the technique difficulties in theory and practicaldevelopment with the consideration of technique application.The cleaning system of the serial-cable control wall-cleaning robot is designed indetails in this paper. It consists of cleaning device, fan propulsion device, hydraulicpressure lift device and bottom wheels device. On the basis of this design,thekinematics and dynamics is analyzed and the compensation method for run deflectionis given with the consideration of wind.In addition, the control scheme of the wall-cleaning robot is studied in thisdissertation. Considering the construction and running features of robot, this paperadapts the distributing control mode .It guarantees the realiability and practicality ofthe whole robot system.It is quite urgent to solve the carrier fashion problem. In this paper, cable in-parallel and in-serial control carrier fashions are analyzed, which provides the theoryreference for not only this kind of carrier fashion robot but also others.更多还原