具有双向作业及恒压越障功能的清洗系统研究  

Investigation of Cleaning System with Functions of Two-way Operating and Constant-pressure Obstacle Crossing

作　　者：王妹婷[1] 谈士力[1] 张海洪[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机床与液压》2009年第8期357-361,共5页Machine Tool & Hydraulics

基　　金：国家863计划项目(863-512-9803-09);上海市教委曙光计划项目(01SG44);上海市科委项目(98A45)

摘　　要：开发了一种用于玻璃幕墙自动清洗、与爬壁机器人配套的作业系统,该系统克服了以往清洗机构只能单向清洗的缺陷,具备双向清洗能力,且具有污水回收净化循环利用功能;开发了用于清洗机构和机器人本体之间连接的弹性机构,从而使得清洗机构具备了独特的恒压越障功能,且适用于机器人本体运动过程中在垂直壁面方向具有自由度的情况,该弹性机构使得清洗机构的作业范围从单一平直壁面扩大到了弧形壁面,并能保证对窗框等障碍物的有效清洗。An auto-cleaning mechanism for glass curtain was investigated to match wall climbing robot, which is different from other mechanism only with one-way operating fuction, it owns the abilities of two-way cleaning, waste water purification and recycling. The elastic collection mechanism used between cleaning mechanism and robot body was developed, as a result, the cleaning mechanism owns unique ability of constant-pressure obstacle crossing, it is suitable for the robot with one freedom in vertical direction against wall, and it can be used for simple straight wall and curved wall, which guarantees the cleaning effect of obstacle, such as window frame.

关 键 词：壁面清洗机器人 清洗机构 双向清洗 弹性连接机构 恒压越障 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]