【作者】 张海洪；

【导师】 龚振邦；

【作者基本信息】 上海大学 ， 机械电子工程， 2001， 博士

【摘要】 高层建筑物的壁面清洗是一项量大面广的作业，迄今为止，国内外基本上还停留在人工清洗阶段，壁面清洗自动化亟待解决。壁面自动清洗的两大关键技术是：壁面移动技术和壁面清洗技术。本文研究的机器人壁面自动清洗系统属于国家“863”计划资助项目，研究的目标是为高层楼宇平直外壁面的自动清洗提供一套机器人作业系统，提高清洗工作效率，降低清洗费用，彻底改善清洗人员的工作条件，具有很高的推广应用价值。本文对该机器人系统的行走装置、清洗作业装置、真空吸附装置、供水及污水循环装置、控制系统等方面的关键技术进行了系统深入的研究。 在导师龚振邦教授和谈士力副教授的悉心指导下，查阅了大量国内外文献资料，系统地综述了国内外爬壁机器人和壁面清洗技术研究现状，基于技术实现和市场应用两方面的考虑，深入分析了机器人壁面自动清洗系统在理论和实际开发中存在的技术难点，并针对现场作业的特殊情况，研制了以单吸盘轮式爬壁机器人作为该系统的移动平台和任务搭载平台；开发了集冲洗、刷洗、刮洗联合作业于一体，并能自动回收清洗污水的清洗作业装置；基于PLC的主控制器直接安装在移动平台上，通过手动遥控盒或上位计算机进行远程遥操作，所研制的机器人壁面自动清洗系统具有清洗效率高、清洗效果好、没有污水泄漏等优点，并且移动平台能够跨越一定高度的规则障碍(如窗框)，提高了系统的壁面适应能力。2001年上海大学博士学位论文 机器人壁面自动清洗系统主要包括爬壁机器人本体、控制系统、清洗作业装置、安全保险装置四大部分。爬壁机器人作为移动平台和任务搭载平台，实现机器人系统在壁面上的吸附和移动功能，它包括吸附系统和移动系统两大部分。机器人移动系统采用的是无轨吊索和轮式全方位移动相结合的方式，保证机器人系统在壁面上自由运动。本文成功地开发了一种集移动、转向和越障功能于一体的全方位越障车轮组机构，四套车轮组机构构成了爬壁机器人的行走装置。 为了解决机器人系统在壁面上的吸附和密封问题，成功地设计了气囊弹簧组合式密封机构，使机器人能够很好地适应各种材质的壁面(如瓷砖或粉墙壁面等)，利用流体网络理论分析了吸盘在抽风机启动、关闭和遇障碍时吸盘内真空度的动态变化，得出了吸盘内真空压力的变化与吸盘结构参数间的相互关系，为此类吸盘的设计提供了理论依据。 在解决了机器人系统壁面吸附和移动功能后，合理设计清洗作业装置是解决壁面自动清洗问题的关键，本文有针对性地设计了高压水冲洗十滚刷刷洗+刮板刮洗+污水自动回收的清洗作业装置，在分析影响清洗效率和效果的诸多因素基础上，规划了清洗工艺，实验表明该清洗装置能够高效地彻底清洁壁面。 机器人系统运动学和动力学的分析建模是实现机器人控制的基础，论文利用适合于高副连接的多闭环系统的Sheth一Uicher方法，建立了系统的运动学模型，并得出了运动学正问题和逆间题的最小二乘解，为机器人的运动控制提供了理论依据;由于机器人系统是一个非完整约束系统，利用APpen方程建立了机器人的动力学模型，并针对各个车轮组在实际运动中的不同分工，分别建立了驱动轮、导向轮的动力学方程，为将来的加速度控制 机器人壁面自动清洗系统的工程研究打下了基础。 控制系统主要须完成对机器人行走、吸附、清洗、安全等装置的控制，必须具有操作简单、方便的特点。我们采用的是上位计算机和PLC两级控制方式。上位机系统主要用来完成对机器人路径规划运算、运动控制运算、位姿控制运算、信息存储、离线仿真、状态可视化处理，并对PLC发出一系列的命令，最终实现对机器人的实时监控。下位机(PLC)主要是完成输出动作控制、数据采集及状态判别等工作，操作时可以使用上位计算机直接遥控，也可以通过操作盒进行遥控。 总体性能实验结果表明，该壁面自动清洗机器人系统达到了国家“863”合同书的任务要求，该系统已于2000年10月通过国家“八六三”课题组专家验收。更多还原

【Abstract】 It is tedious, dangerous and awkward to clean the facades of skyscrapers. Even to present, all the work is done by workers in suspended scaffoldings. It is quite urgent to realize the automation of fa?ade cleaning. Two key technique questions should be solved in the cleaning automation process. They are wall-moving technique and wall-cleaning technique.The Auto-cleaning Wall-climbing Robot System discussed in this dissertation is supported by "863" National High -tech Plan, aiming at providing city construction industry with a highly efficient wall-climbing robot for cleaning glass or tile wall automatically. In this dissertation, the moving system, suction system, cleaning system, sewage recycling system, control system are studied with reference to relevant research works.Guided by my tutors Prof. Gong Z.B. and associate Prof. Tan S.L., based on lots of reference, this paper presents the classification and features of wall-climbing robot and introduces the development situation of wall-climbing robot and wall cleaning technique in detail. With considerations of both techniques and practical application, we discussed the technical difficulties in developing the Auto-cleaning Wall-climbing Robot System. Then the dissertation presents a prototype model. The system includes a single-suction cup wheel-moving type wall-climbing robot which worked as mobile platform and working platform, a combined cleaning device which can flush, scrub, scrape the wall surface and be able to collect sewage automatically, and a control system which was installed on the wall-climbing robot directly. The whole system can bemanipulated by up-computer or hand-holding control-box remotely.The wall-climbing robot makes the whole system stick and move on the surface. It consists of suction system and moving system. The moving system combines non-rail sling driving mode and omni-directional wheel driving mode together. A new type of omni-directional wheel, which have three functions: driving, turning and overstepping, had developed. Four sets of this kind of omni-directional wheel consist the mobile platform of the wall-climbing robot, which makes the whole system move on the wall surface freely.To solve the suction and sealing problem on the wall surface, the air spring made of spring and air cell is designed as the sealing mechanism. The sealing mechanism can adapt to different kinds of wall surface such as tile surface or concrete surface. On the basis of flow net theory, the suction models while the air pump starts and stops suddenly or the suction cup encounters obstacles are established. The effect between pressure inside the suction cup and structure parameter of suction is studied. Then some rules for design this kind of suction cup are discussed in detail.A reasonable designed cleaning device is necessary for implementing the cleaning task. A multi-functions cleaning apparatus is designed. This apparatus combined the flushing, scrubbing and scraping cleaning modes. It is able to collect the sewage so that no sewage leaks from the gap between suction cup and wall surface to pollute the cleaned surface again. The different factors which influence the cleaning effect and efficiency have been studied in detail. Based on this study, the cleaning technology has been programmed.The kinematics and dynamics equations are necessary for the robot control. Because there are multi-closed loops and multiple dot-connect links, the Sheth-Uicher transform is used to build thekinematics equation of wall climbing robot. The positive and inverse solutions of the kinematics equation are gained. These solutions provide the theory support for motion control of the wall-climbing robot. The wheel driven wall-climbing robot is an non-integrity system, Appell equation is used to established the dynamics model of the wall-climbing robot. In fact, a given wheel serves as driving wheel or turning wheel during moving period. Based on this pointed, the dynamics equations for driving wheel and turning wheel are built respectively.The control syst更多还原