用于玻璃幕墙清洗的爬壁机器人的研制  

Development of a Climbing Robot for Glass-wall-cleaning

作　　者：张子博[1] 刘荣[1] 杨慧轩 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《自动化与仪表》2016年第5期6-9,28,共5页Automation & Instrumentation

摘　　要：该文研制了一款用于玻璃幕墙清洗的双腔体爬壁机器人,该机器人的设计基于负压吸附原理,能够在玻璃壁面上自由移动,并通过机器人上的清洗机构清洗玻璃。机器人上位机采用Android技术开发,下位机采用STM32主控芯片,通过Wi Fi网络通信。该文详细论述了机器人的结构设计、运动清洗方案及整体控制方案。提出了运用汽车雨刮机构清洗幕墙玻璃的方法。经过机器人的爬壁及清洗实验,验证了将清洗机器人用于玻璃幕墙清洗的合理性,为玻璃清洗机器人的设计研究提供一种思路。This paper presents a double-cavity glass-cleaning robot which is based on the negative pressure adsorption and can walk on glass wall and accomplish the clean work automatically with its clean equipment. The host computer is developed on Android cellphone,the slave computer is developed on STM32 MCU. The host and slave computer communicate by Wi Fi network. The structure design,the cleaning scheme and the total control system are described in detail in this paper. In this paper,using the mechanism of car wiper for cleaning the glass is proposed. The successful experiment of climbing and clean is sufficient proof for the property and rationality of the design. Finally,the results of experiments provides a new kind of thought for the design of glass cleaning robot.

关 键 词：爬壁机器人 玻璃清洗 越障 STM32单片机 ANDROID 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]