楼梯楼道全方位清扫机器人设计研究  

Design and research of all-round cleaning robot for stairways and corridors

作　　者：行志刚 冯长龙 代军[2] 任玉健 XING Zhigang;FENG Changlong;DAI Jun;REN Yujian(College of Innovation and Entrepreneurship,Henan Polytechnic University,Jiaozuo 454000;School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454000)

机构地区：[1]河南理工大学创新创业学院,河南焦作454000 [2]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《机械设计》2023年第9期36-42,共7页Journal of Machine Design

基　　金：国家级大学生创新创业训练计划项目(202210460011);河南省大学生创新创业训练计划项目(S201910460025)。

摘　　要：针对多层建筑的日益增加带来的楼梯和楼道人力清扫困难问题,文中基于ROS机器人操作系统为框架设计了一款集语音交互、自主导航、楼梯攀爬清扫、楼道楼层清扫及垃圾处理为一体的楼梯楼道全方位清扫机器人,完成了机器人机械结构系统、核心部件的选型分析设计、传动机构的运动学与力学仿真和逻辑控制系统的设计,搭建了模拟型物理功能样机,并进行了样机楼梯垃圾清扫试验。试验数据表明:该清扫机器人能够全方位清扫和处理垃圾,清扫质量优、可靠性强,达到工程应用预期效果。Since it is difficult to clean stairways and corridors by manpower due to the increasing number of multi-storey buildings,in this article a comprehensive cleaning robot for stairways and corridors is designed based on ROS robot operating system,which integrates voice interaction,autonomous navigation,stair-climb cleaning,stair-floor cleaning,and garbage disposal.The robot's mechanical structure and core components are analyzed,selected and checked;its transmission mechanism is subject to kinematics and mechanics simulation;its control logic system is designed completed.The simulated physical function prototype is built,and the tests are carried out,such as stairway garbage cleaning,and so on.The simulation results and experimental data indicate that this cleaning robot can clean and deal with garbage in all directions,with excellent cleaning quality and strong reliability,thus achieving the expected effect of actual application.

关 键 词：楼梯楼道 垃圾清扫 全方位 结构设计 

分 类 号：TB472[一般工业技术—工业设计]