考虑风载因素的玻璃幕墙清洁机器人设计  

Design of Glass Curtain Wall Cleaning Robot Considering Wind Load

作　　者：李林琛[1,2] 张春芝[1] 秦绪杰 李磊 杨幸 LI Linchen;ZHANG Chunzhi;QIN Xujie;LI Lei;YANG Xing(School of Mechanical and Electrical Engineering,Beijing Polytechnic College,Beijing 100042,China;School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;College of Mechanical and Materials Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]北京工业职业技术学院机电工程学院,北京100042 [2]中国矿业大学(北京)机电与信息工程学院,北京100083 [3]北方工业大学机械与材料工程学院,北京100144

出　　处：《电子器件》2024年第2期557-563,共7页Chinese Journal of Electron Devices

基　　金：北京市教育委员会科研计划项目(KM201910853004)。

摘　　要：围绕高楼玻璃幕墙机器人自动清洁中的风载问题,设计了一款考虑风载因素的真空吸盘吸附的框架式爬壁机器人。针对玻璃幕墙清洁机器人的框架式结构进行步态规划。基于空间力学理论建立了玻璃幕墙清洁机器人在风载下的力学平衡模型,得到了风载大小与机器人吸盘吸附力之间的力平衡方程。在Workbench中对风载作用下的清洗机器人本体进行了有限元分析,得到了机器人模型的应力云图与变形云图。实验测试结果表明:在极限风载作用下,机器人的最大应力点位于吸盘支架,最大变形点位于主架板中心。在真实风载下对机器人进行攀爬运动仿真分析,机器人可以在极限风载下稳定地工作,不会发生滑移和倾覆,验证了力学模型和设计模型的正确性。Aiming at the wind load problem of the high⁃rise glass curtain wall automatic cleaning robots,a vacuum suction cup adsorp⁃tion frame⁃type wall⁃climbing robot is designed considering the wind load factor.The gait planning of glass curtain wall cleaning robot is planned.The mechanical balance model of glass curtain wall cleaning robot under wind load is established.The finite element analysis of the cleaning robot body under the action of wind load is carried out,and the stress cloud map and deformation cloud map are ob⁃tained.Experiments show that under extreme wind loads,the robot’s maximum stress point is located in the suction cup bracket,and the maximum deformation point is located in the center of the main frame plate.The robot can work stably under extreme wind loads without sliding or overturning,which verifies the correctness of the mechanical model and design model.

关 键 词：玻璃幕墙 清洁机器人 风载作用 真空吸附 有限元 最大应力 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]