双向清洗系统研究及其在爬壁机器人上的应用  

Investigation of two-way cleaning system and its application in wall climbing robot

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：《机械设计与制造》2010年第5期66-68,共3页Machinery Design & Manufacture

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：针对建筑物玻璃幕墙的清洗要求和目前机器人只能单向清洗作业的实际情况,开发了一种与爬壁机器人配套使用、具备双向作业及污水回收净化循环利用功能的清洗作业系统,大幅提高了作业质量、作业效率和节能环保性能。清洗系统不但适用于已有的爬壁机器人,也可与具有较强吸附运动功能及壁面适应能力、但在垂直于壁面方向有一个移动自由度的轮腿式爬壁机器人配套使用。开发了用于清洗系统与机器人集成的高度自适应弹性连接机构,实现了清洗系统恒压越障、恒压作业功能,且作业范围进一步扩大至弧形壁面,最后给出了该清洗系统与连接机构在轮腿式爬壁机器人上的应用示例。Aiming at the demand of glass curtain wal lcleaning,acleaning system with the capabilities of two-way operation and waste water purification and recycling is developed to match wall climbing robot,which is different from other mechanism only with one-way operating function,as a result this cleaning system has not only higher cleaning quality and operation efficiency but also higher performance in energy conservation and environmental protection.This system can match with not only the existed wall climbing robot,but also the wheel-legged wall climbing robot,which has stronger capability in adsorption,moving and wall adaptability,although with one mobile freedom in the direction perpendicular to the wall.For the integration between the cleaning system and the robot,the elastic connection mechanism with high adaptability is also developed,by which the cleaning system owns unique capability of constant-pressure obatacle crossing and operation,and its operation range also extends to the curved wall.Finally the application of this cleaning system and this connection mechanism on the wheel-legged wall climbing robot is presented as an instance.

关 键 词：壁面自动清洗机器人 清洗机构 双向清洗 高度自适应弹性连接机构 恒压越障 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]