可自主越障擦窗机器人行进装置及控制系统设计  

Design of traveling device and control system of the independent obstacle-crossing window cleaning robot

作　　者：周祺珵 付子慧 李裕帆 徐人天 王婧霖 ZHOU Qicheng;FU Zihui;LI Yufan;XU Rentian;WANG Jinglin

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730030

出　　处：《现代机械》2025年第2期74-78,共5页Modern Machinery

基　　金：2024年大学生国家级创新创业训练项目(DC2410732CX0291)。

摘　　要：为了解决擦窗机器人无法自动擦拭多扇窗户的问题,对现有的擦窗机进行了结构分析,针对现有擦窗机器人存在不能自动跨越障碍的难题,研究设计了一款可自主翻窗的擦窗机器人。该款机器人模仿毛毛虫爬行的连杆机构运动原理,通过设计的“抬起,前移,放下”三步动作来实现360°越障。通过机械臂连接两个机器人,机械臂带动机器人实现交替跨越障碍,在越障的同时能够实现高效清洁。经过实物工作测试,结果显示:擦窗机器人可以满足高效越障需求。与现有需手动辅助翻窗的擦窗机器人相比,该款机器人具有工作范围广、清洁效率高、无人度高的特点。In order to solve the problem that the window cleaning robot cannot independently wipe multiple windows,the structures of existing window cleaning machines are analyzed,and a window cleaning robot that can independently cross the window frame is designed.The robot mimics the linkage mechanism motion of a crawling caterpillar,and realizes 360°obstacle crossing through the three-step movement of“lifting,moving forward,and lowering”.Two robots are connected by a robotic arm,and the robotic arm drives the robots to cross the obstacle alternately,thus realizing obstacle crossing and efficient cleaning at the same time.Prototype tests show that the window cleaning robot can meet the demand for efficient obstacle crossing.Compared with the existing window cleaning robots that need manual assistance to cross the window frame,the designed robot has wider working range,higher cleaning efficiency and higher unmanned level.

关 键 词：自主翻窗 机械臂 越障 单片机 

分 类 号：TH69[机械工程—机械制造及自动化]