724 爬壁清洗机器人设计

摘要

高层建筑清洗爬壁机器人可在垂直壁面及屋顶移动进行物体表面的清洗，本文设计 了机器人爬壁系统由移动系统和吸附系统组成。移动吸附系统由十字框架结构和真空吸 附结构组成，使机器人灵活移动，避障能力强。机器人主体部分由可以相互平移的两个 呈十字型组合的无杆气缸，其中任意一个无杆气缸可以相对另一个进行平移，每个无杆 气缸通过腿部支架可独立控制腿足结构。腿足结构是由拉杆气缸和一组真空吸盘组成。 随着腿部的交替吸附和框架主体的相对运动，机器人实现壁面自由移动的功能。驱动方 式由X方向和Y方向两个相互垂直的机构组成，分别选用一个双作用无杆气缸，安置在 中间的主体支架上，真空吸盘组采用正三角排列和使用气动的驱动方式。控制系统是清 洗爬壁机器人的关键部分，采用三菱公司的PLC­FX1N系列完成对机器人主体的吸盘脱 离、本体移动、吸盘吸附和清洗的控制。

关键词：双作用拉杆气缸，十字架构，无杆气缸，PLC

Abstract

High­rise buildings cleaning climbing robot can be in vertical wall and roof movement in the object surface cleaning, this paper designed the climbing robot system by mobile system and adsorption systems. Mobile adsorption system by the frame structure and vacuum adsorption structure, make flexible mobile robot, obstacle avoidance ability. Robot main body part can be of mutual translation by a combination of the two four­arm pneumatic rodless cylinders, including any a pneumatic rodless cylinders can relative another translation, each pneumatic rodless cylinders through the legs stent independent control leg foot structure. Leg foot structure is by tie rods and a group of cylinder of vacuum cups. As the legs of alternating the adsorption and the relative motion of the main frame, robot wall free movement function realization. Driving way X and Y directions direction by two perpendicular institutions, a double role are chosen pneumatic rodless cylinders and placed in the middle of the main body on the support, vacuum cups group I arrangement, and use the pneumatic drive mode. Control system is climbing robot cleaning the key part, USES the mitsubishi company PLC­FX1N series of of the main body of the robot complete suckers, its mobile, chuck from adsorption and cleaning of control.

Keywords: dual action bars cylinder, the architecture, pneumatic rodless cylinders, PLC

目录

1 绪论 ---------------------------------------------------------1

1 .1选题背景及其意义--------------------------------------------------1

1.2 文献综述（国内外研究现状与发展趋势） ------------------------------1

1.3 研究内容 ----------------------------------------------------------5

1.4 研究方案 ----------------------------------------------------------6

1.5本章小结-----------------------------------------------------------9

2 爬壁清洗机器人总体结构设计 ----------------------------------10

2.1 爬壁清洗机器人的材料选择 -----------------------------------------10

2.2 机器人总体结构介绍 -----------------------------------------------10

2.3 移动铝板的设计与校核 ---------------------------------------------11

2.4 吸盘直径的选取 ---------------------------------------------------13

2.5 电动机的选取 -----------------------------------------------------15

2.6 联轴器的选取 -----------------------------------------------------18

2.7 轴承的校核 -------------------------------------------------------18

2.8 滚动轴承寿命的计算 -----------------------------------------------19

2.9 轴的计算 ---------------------------------------------------------20

2.10 键连接的强度计算 ------------------------------------------------21

2.11 轴向气缸的设计与计算 --------------------------------------------22

2.12 活塞杆稳定性及挠度验算 ------------------------------------------25

2.13 本章小结 --------------------------------------------------------28

3 爬壁清洗机器人气动设计 --------------------------------------29

3.1 吸附部分 ---------------------------------------------------------29

3.2 气缸运动部分 -----------------------------------------------------29

3.3 本章小结 ---------------------------------------------------------31

4 爬壁清洗机器人控制部分设计 ----------------------------------32

4.1 PLC的概述及发展--------------------------------------------------32

4.2 PLC的I/O口分配--------------------------------------------------33

4.3 PLC选型----------------------------------------------------------33

4.2 PLC控制面板------------------------------------------------------34

4.4 PLC的I/O口分配图------------------------------------------------34

4.5 PLC梯形图--------------------------------------------------------35

4.5 本章小结 ---------------------------------------------------------38