爬壁清洗机器人毕业设计.docVIP

爬壁清洗机器人毕业设计 爬壁清洗机器人设计? I? 摘要 高层建筑清洗爬壁机器人可在垂直壁面及屋顶移动进行物体表面的清洗,本文设计 了机器人爬壁系统由移动系统和吸附系统组成。移动吸附系统由十字框架结构和真空吸 附结构组成,使机器人灵活移动,避障能力强。机器人主体部分由可以相互平移的两个 呈十字型组合的无杆气缸,其中任意一个无杆气缸可以相对另一个进行平移,每个无杆 气缸通过腿部支架可独立控制腿足结构。腿足结构是由拉杆气缸和一组真空吸盘组成。 随着腿部的交替吸附和框架主体的相对运动,机器人实现壁面自由移动的功能。驱动方 式由X方向和Y方向两个相互垂直的机构组成,分别选用一个双作用无杆气缸,安置在 中间的主体支架上,真空吸盘组采用正三角排列和使用气动的驱动方式。控制系统是清 洗爬壁机器人的关键部分,采用三菱公司的PLC?FX1N系列完成对机器人主体的吸盘脱 离、本体移动、吸盘吸附和清洗的控制。 关键词:双作用拉杆气缸,十字架构,无杆气缸,PLC 爬壁清洗机器人设计? II? Abstract? High?rise?buildings?cleaning?climbing?robot?can?be?in?vertical?wall?and?roof?movement?in? the?object?surface?cleaning,?this?paper?designed?the?climbing?robot?system?by?mobile?system? and? adsorption? systemsMobile? adsorption? system? by? the? frame? structure? and? vacuum? adsorption?structure,?make?flexible?mobile?robot,?obstacle?avoidance?ability.?Robot?main?body? part? can? be? of? mutual? translation? by? a? combination? of? the? two? four?arm? pneumatic? rodless? cylinders,? including?any? a?pneumatic? rodless?cylinders?can? relative?another? translation,?each? pneumatic?rodless?cylinders?through?the?legs?stent?independent?control?leg?foot?structure.?Leg? foot?structure?is?by?tie?rods?and?a?group?of?cylinder?of?vacuum?cups.?As?the?legs?of?alternating? the?adsorption?and?the?relative?motion?of?the?main?frame,?robot?wall?free?movement?function? realizationDriving? way? X? and? Y? directions? direction? by? two? perpendicular? institutions,? a? double?role?are?chosen?pneumatic?rodless?cylinders?and?placed?in?the?middle?of?the?main?body? on?the?support,?vacuum?cups?group?I?arrangement,?and?use?the?pneumatic?drive?mode.?Control? system? is? climbing? robot? cleaning? the? key? part,?USES? the?mitsubishi? company? PLC?FX1N? series?of?of? the?main?body?of? the?robot?complete?suckers,? its?mobile,?chuck? from?adsorption? and?cleaning?of?controlKeywords:?dual?action?bars?cylinder,?the?architecture,?pneumatic?rodless?cylinders,?PLC 爬壁清洗机器人设计? III? 目录 1 绪论 1 .1 选题背景及其意义 1.2 文献综述(国内外研究现状与发展趋势)