轮腿式壁面清洗机器人真空耦合传递系统研究  

Research on Vacuum-coupled Delivery System of Wheel-legged Wall Cleaning Robot

作　　者：王妹婷[1] 齐永锋[1] 蒋伟[1] 李生权[1] 包加桐[1] 程宏辉[1] 陆柳延[1] 

机构地区：[1]扬州大学能源与动力工程学院,江苏扬州225127

出　　处：《机械工程与自动化》2013年第5期76-77,79,共3页Mechanical Engineering & Automation

基　　金：国家自然科学基金资助项目(51106133);江苏省高校自然科学基金资助项目(12KJB510032;10KJB470010);江苏省水利动力工程重点实验室开放基金资助项目(K090022)

摘　　要：针对轮腿式壁面清洗机器人作业时对吸附力的要求以及吸附系统部分组件相对机器人本体旋转的问题,采用模块化设计方法,研究了真空耦合传递系统,分析了其构成与负压同步分配器截面形状。为满足相对机器人静止的真空发生器和转动吸盘的连接要求,根据分配头不同截面形状提出负压同步分配器3种方案,并分析了分别采用不同方案的机器人特性。研究结果为机器人在平直壁面、球形或柱形等曲面上的可靠吸附与运动提供基础和保证。To meet the requirements of adsorbing force and relative rotation of the some parts to the robot body in the process of wheel-legged wall cleaning robot operating, a vacuum-coupled delivery system was investigated adopting modular design method. Its composition and the sectional shapes of negative pressure synchronous distributor were analyzed. To meet the connection request for relatively stationary vacuum generator and rotating suckers, three design scenarios of negative pressure synchronous distributor with different cross-sectional shapes were proposed. And then the characteristics of robot separately adopting different programs were analyzed. The results provide the foundation for reliable adsorption and motion of the robot working on a straight wall, spherical or cylindrical surfaces.

关 键 词：壁面自动清洗机器人 真空耦合传递系统 负压同步分配器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]