智能玻璃幕墙清洗机器人设计+CAD图纸
毕业论文关键词：清洗爬壁机器人 气动系统 真空吸附
Structural Design of an Intelligent Glass Curtain Wall Cleaning Machine
Abstract: This paper introduces the design of an intelligent high-rise glass curtain wall cleaning machine based on the system self-cleaning device for domestic and international status of the wall. The mobile cleaning machine structure has a gas drive, vacuum and flexible framework.
The device includes cleaning system, climbing wall and the control system of three parts. Robot itself is equipped with cleaning devices work by planning the path for cleaning. Wall high-rise buildings are mainly of atmospheric dust and dirt, considering the robot's operating environment, cleaning efficiency and environmental protection requirements, the entire operating system including the rolling brush cleaning system, sprinkler system, water cycle recovery system, and cleansing the system, with washing, brushing, scraping the joint effect of washing cleaning practices. Scraper can recovery left in the wall of the droplets, through the sewage pipe into the sewage tank. Wastewater recycling and reuse of the robot to achieve self-sufficiency in water supply, help increase the efficiency of cleaning robots, and cleaning can reduce the load on the weight of the robot.
Keywords: Wall-climbing cleaning robot；Gas driven；Vacuum adsorption；Frame structure
目录
1绪论 1
1.1课题研究的目的和意义 1
1.2 课题研究现状及分析 1
1.2.1 国外壁面清洗机器人研究现状 1
1.2.2 国内壁面清洗机器人研究现状 3
1.3各种爬壁机器人的性能比较与分析 4
1.4幕墙清洗机器人的特点 7
2 智能玻璃幕墙清洗机总体方案设计 8
2.1玻璃幕墙清洗机器人的总体方案 9
2.2玻璃幕墙清洗机器人的爬壁系统 10
2.3玻璃幕墙清洗机器人的清洗系统 11
2.4幕墙清洗机器人的总体性能指标 11
3爬壁清洗机器人的爬壁系统设计 12
3.1移动方式 12
3.1.1移动方式的选择 12
3.1.2移动方式的主要方案 13
3.2驱动方式 13
3.3吸附方式 14
3.3.1选择吸附方式 14
3.3.2吸附方式主要方案 16
3.3.3吸附时的受力分析 18
3.3.4真空发生装置分析 20
3.4腿部起升气紅及平动伸缩气缸受力分析 21
3.4.1腿部气紅的受力分析及选型 21
3.4.2平动气缸的受力分析及选型 21
3.5机器人越障方案 22
3.6机器人的工作路径规划 23
3.6.1机器人路径规划 23
3.6.2清洗作业循环 24
4爬壁清洗机器人的清洗系统设计 25