多形态爬楼扫拖一体化机器人设计  

Design of Multi-Form Climbing,Sweeping and Wiping Integrated Robot

作　　者：孙含冰 王玉勤 杨家诚 韩信 邵家乐 SUN Hanbing;WANG Yuqin;YANG Jiacheng;HAN Xin;SHAO Jiale(School of Mechanical Engineering,Chaohu University,Hefei 238024,China)

机构地区：[1]巢湖学院机械工程学院,安徽合肥238024

出　　处：《河南科技》2025年第1期28-32,共5页Henan Science and Technology

基　　金：巢湖学院大学生创新创业项目“一尘不染——多形态楼梯清洁机器人”(X202410380107);安徽省传统专业改造提升项目“机械设计制造及其自动化专业改造提升”(2021zygzts039);安徽省虚拟仿真实验教学项目“数控加工虚拟仿真实验教学项目”(2021xnfzxm070)。

摘　　要：【目的】在现代智能家居领域中,清洁机器人逐渐成为提升生活质量的关键设备。然而,现有的清洁设备在对楼梯和跨楼层进行清洁时仍面临着挑战。为了克服这些限制,设计出一款多形态爬楼扫拖一体化机器人,其能自动适应复杂的家庭和商业环境,实现高效且全面的清洁。【方法】通过分析多形态爬楼扫拖一体化机器人在楼梯上的运动方式,构建机器人三维结构模型,并利用SolidWorks软件对三臂边刷和拖布传动叶片进行有限元分析。【结果】通过集成视觉识别技术、智能路径规划及创新重心偏移和攀爬机制,不仅能提高机器人的清洁效率,还能增强操作的便利性和安全性。通过对比结构件的等效应力和位移量,发现数值均在允许范围内,符合设计要求,确保了机器人结构的合理性和零件强度。【结论】该设计有望推动清洁机器人技术的发展,且在市场上具有广阔的应用潜力。[Purposes]In the field of modern smart home,cleaning robots are gradually becoming a key factor to improve the quality of life.However,the existing cleaning equipment still faces challenges when dealing with stairs and cross-floor cleaning.In order to overcome these limitations,this paper designed a multi-form climbing,sweeping and wiping integrated robot,which can automatically adapt to the complex family and business environment and realize efficient and comprehensive cleaning.[Methods]By analyzing the movement mode of the multi-form climbing,sweeping and wiping integrated robot crawling on the stairs,the three-dimensional structure model of the robot is constructed.And the finite element analysis of three-arm side brush and mop drive blade was carried out by SolidWorks software.[Findings]By integrating visual recognition technology and intelligent path planning,and innovating the mechanism of gravity center shift and climbing,the robot not only improves the cleaning efficiency,but also enhances the convenience and safety of operation.By comparing the equivalent stress and displacement of structural parts,it was found that the values were within the allowable range and met the design requirements,which ensured the rationality of robot structure and the strength of parts.[Conclusions]This design is expected to promote the development of clean robot technology and has broad application potential in the market.

关 键 词：多形态机器人 扫拖一体化 自动化清洁 视觉识别系统 

分 类 号：TH137.5[机械工程—机械制造及自动化]