倒锥面高层玻璃幕墙清洗机器人设计

王巍; 唐伯雁

倒锥面高层玻璃幕墙清洗机器人设计

王巍¹,
唐伯雁²

1.
北京航空航天大学机械工程及自动化学院, 北京 100083
2. 北京工业大学机械工程及应用电子技术学院, 北京 100022

详细信息

中图分类号: TP 206⁺.1
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- 被引次数: 0
出版历程
- 收稿日期: 2005-07-07
- 网络出版日期: 2006-06-30

Cleaning robot design for cone high-rise glass-curtain wall

Wang Wei¹,
Tang Boyan²

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2. College of Mechanical Engineering & Applied Electronics Technology, Beijing University of Technology, Beijing, 100022, China

摘要

摘要: 为满足倒锥面高层玻璃幕墙清洗机器人对小质量、高可靠性、高安全性的要求,提出了运动驱动分散配置、主运动与辅助运动一体化、主运动柔性驱动的机器人结构设计原则;针对具体建筑结构设计了完备的清洗机器人系统,讨论了机器人对作业对象遍历运动和吸附、清洗功能的实现方法;分析了机器人系统对建筑结构误差的适应能力,证明了柔性驱动结构的可行性.在上述基础上开发了倒锥面高层玻璃幕墙清洗机器人系统,并进行了现场试验,证明了系统的实用性和可靠性.该系统已成功应用于机场指挥塔幕墙的清洗作业.
- 机器人 /
- 玻璃幕墙 /
- 误差
Abstract: To fulfill the demand for the lightness, high reliability and safety, three structure design principles were proposed for a cone high-rise glass-curtain wall cleaning robot. The whole cleaning robot structure was designed based on the principles which were described as the motion driver dispersed configuration, the main and secondary motion integrative drive and the soft drive structure for the main motion. The methods adopted by the robot to go through, attach and clean the glass-curtain wall were detailed consequently. The architecture dimension error’s infection to the robot was analyzed to testify the feasibility of the soft drive structure and the adaptability of the robot to the error. The cleaning robot for an airport control tower was developed according to the principles discussed. The practicability and reliability of the robot were testified by the fieldwork. The cleaning robot system proposed is now used for the airport control tower’s daily cleaning service.
- robot /
- glass-curtain wall /
- error

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参考文献(1)

[1] Nishigami M, Mizushima T. Glass roof cleaning robot system ‘Canadian Crab’[J]. Journal of the Robotics Society of Japan, 1992, 10 (5):40-42 [2] 刘淑霞, 王炎. 爬壁机器人技术的应用[J]. 机器人, 1999, 21 (2):193-199 Liu Shuxia, Wang Yan. The application of wall-climbing robot[J]. Robot, 1999, 21 (2):193-199(in Chinese) [3] 张厚祥, 宗光华. 全气动擦窗机器人的实现[J]. 液压与气动, 2001, 22 (11):5-8 Zhang Houxiang, Zong Guanghua. Pneumatic robot for glass-wall cleaning[J]. Chinese Hydraulics & Pneumatics, 2001, 22 (11):5-8(in Chinese) [4] 王巍, 宗光华. 灵巧壁面移动机器人运动学和动力学研究[J]. 北京航空航天大学学报, 2003, 29 (9):763-766 Wang Wei, Zong Guanghua. Research for the kinematics and dynamics models of a flexible glass-wall cleaning robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29 (9):763-766 (in Chinese) [5] 张厚祥, 唐伯雁,刘荣,等. 自主攀爬式曲面作业机器人设计研究[J]. 机器人, 2004, 26 (1):1-6 Zhang Houxiang, Tang Boyan, Liu Rong, et al. Design of a self-scramble robot for spherical surface[J]. Robot, 2004, 26 (1):1-6(in Chinese)

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