物业清洁机器人越障动力学分析与实验  

Dynamic Analysis and Experiment on Obstacle Crossing of Property Cleaning Robots

作　　者：徐锦鑫 王保民[2] XU Jin-xin;WANG Bao-min(Foshan Subsidiary of Guangdong Meifang Zhigao Robotics Co.,Ltd,Foshan 528300,Guangdong,China;School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,Gansu,China)

机构地区：[1]广东美房智高机器人有限公司佛山分公司,广东佛山528300 [2]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械研究与应用》2024年第4期38-42,共5页Mechanical Research & Application

摘　　要：室内楼道、大厅、地下车库等场地的自动化清洁存在作业空间狭小、环境复杂多变等特点,针对此问题,文章研制了一款全自动物业清洁机器人。首先依据设计指标对清洁机器人进行了机械系统方案设计;然后进行了清洁机器人动力学分析,通过建立垂直越障和爬坡越障两方面的力学模型,得到了清洁机器人最佳参数;最后进行了样机垂直越障和爬坡试验验证。结果表明,该清洁机器人越障高度达32 mm,爬坡角度达10°,可满足一定物业场景下清洁作业的需求。The automatic cleaning of indoor venues such as corridors,halls,and underground garages has the characteristics of narrow working space and complex and changeable environment.In response to this problem,this paper has developed a fully automatic property cleaning robot.Firstly,the mechanical system scheme of cleaning robots is designed according to the design indicators;Then,dynamic analysis of the cleaning robot is conducted,and the mechanical models for vertical obstacle crossing and climbing obstacle crossing are established,thus the optimal parameters of the cleaning robot are calculated;Finally,the designed cleaning robot prototype is validated through horizontal obstacle crossing and climbing experiments.The results show that the cleaning robot can overcome obstacles up to a height of 32 mm and climb a slope angle of 10°,which can meet the needs of cleaning operations in complex environments of property scenes.

关 键 词：物业清洁机器人 垂直越障 爬坡越障 动力学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]