高楼壁面清洗机器人的研究与设计

发布时间：2018-07-29 06:06

【摘要】：高楼壁面清洗机器人是有着确定功用的机器人,用于危险系数高且垂直于地面的高楼外壁,需要自带清洗装备,是一种能够满足现代都市建筑外壁洗濯服务的极限工作机器人,它可以将人们从危险的高空作业环境中解脱出来,不仅可以避免事故的发生,减少人员伤亡,并且可以提高工作效率,具有良好的发展前景。清洗装置安装在机器人清洗设备上,设备的工作路线是按照事先规划好的路线工作,高楼的外壁污染主要是灰尘,清洗系统是机器人的主体,要满足机器人的工作环境和效率,还要满足环保标准。清洗机器人的爬壁系统也是机器的重要组成部分,是由提升悬架和吸盘共同组成。控制系统是设备核心的部分,本课题采用西门子公司的PLC完成对机器人主体的吸盘脱离、清洗本体提升、吸盘吸附和清洗的控制。本课题利用Solidworks三维软件对所设计的机器人建立三维实体模型和运动模型,对主体机构进行运动仿真,对其进行机构分析,得出仿真结果。通过三维图来验证系统的可行性,检测清洗系统各个机构是否存在干涉,运动是否稳定。本课题对主要的部件还进行了有限元分析,进一步验证了机器人系统合理性。
[Abstract]:The high building wall cleaning robot is a kind of robot with certain function. It is used in the outer wall of a tall building with high hazard coefficient and perpendicular to the ground. It needs cleaning equipment. It is a kind of extreme working robot which can satisfy the washing service of the outer wall of modern urban buildings. It can not only avoid accidents, reduce casualties, but also improve working efficiency and have a good development prospect. The cleaning device is installed on the robot cleaning equipment, the working route of the equipment is to work according to the planned route, the pollution of the outer wall of the tall building is mainly dust, the cleaning system is the main body of the robot, and the working environment and efficiency of the robot should be satisfied. Also meet environmental standards. The climbing system of cleaning robot is also an important part of the machine, which is composed of lifting suspension and sucker. The control system is the core of the equipment. In this paper, Siemens PLC is used to control the main body of the robot, such as the detach from the sucker, the lifting of the cleaning body, the adsorption of the sucker and the cleaning of the sucker. In this paper, the three-dimensional solid model and motion model of the designed robot are established by using Solidworks software, and the motion simulation of the main mechanism is carried out, and the mechanism analysis is carried out, and the simulation results are obtained. The feasibility of the system is verified by three-dimensional graph, and the interference and the stability of the cleaning system are detected. In this paper, the main components are also analyzed by finite element method, and the rationality of the robot system is further verified.
【学位授予单位】：河北工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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