多吸盘式玻璃幕墙清洗机器人本体设计

上海交通大学硕士学位论文多吸盘式玻璃幕墙清洗机器人本体设计姓名：胡启宝申请学位级别：硕士专业：机械电子工程指导教师：赵言正20070201IPLCIIPLCIIIDEDIGNOFAWALL-CLEANINGROBOTWITHSEVERALSUCTIONCUPSABSTRACTAtpresent,mostcleaningworkofskyscrapers'glasswallisperformedbycleanerstodata.Itishardworkunderhorribleenvironmentwithlowefficiency,moreoveritisdangerous.Wall-climbingrobotisakindofmobileservicerobot,whichcanclimbonthesurfaceofbuildingandcleanit.Thisprovidescityconstructionindustrywithahighlyefficientwall-climbingrobotforcleaningglasswallautomaticallyandimprovestheworkefficiencyandenvironmentgreatly.Atfirst,thispaperintroducestheresearchstateofthiskindofrobotsandthenlaysoutthepurposeandimportanceofthisstudy.Theauthorproposesanon-actuatedwall-cleaningrobotprototypeusingseveralsuctioncupswithadheringalternativelymethodwithreferencetopresentforeignanddomesticrelevantresearchwork.Thispaperintroducesthedetailconstitutionofthecleaningroboticsystemandanalysisonoperationprincipleofeachcomponent.ThekeytechnologyincontrolsystemofthisrobotisexpoundedandthePLCcontrolsystemisalsopresented.Thetechnicalfeasibilityoftheschemeisdiscussedandtheimplementationconditionsareobtainedwhenadhering,slidingdownandcleaningsimultaneously.Somepossibleoccurringproblemsandcorrespondingsolutionmeasuresarepresentedaccordingtothenewmechanism.Besides,theprocedureofcrossingobstaclesofcleaningIVrobot,suchashorizontalwindowframes,areplannedandthenanalyzed.Moreover,thispaperpresentsfluidicnetworktheorytoanalyzethenegativepressureinthesuctioncupsandgetflowresistanceandflowcapacitancefromtheequivalentofthestructureparameterofsuctioncups.Toofferacademicbasisfordesigningsuctioncup,theauthorestablishesamodelofdualsuctioncupsandvacuumpumps,andstudiesthedynamicresponsecurveswithdifferentconditionsbasedonfluidicnetworktheory.Finally,experimentalresultsofthewall-cleaningrobotareperformed.Theresultsshowthattherobotcankeepproperpostureanddoexcellentworkincleaningglasswallsurfaceofhighbuildings.Itprovesthatthepostureandnegativepressurecontrolalgorithmworkswellandtherobothasgoodadaptabilitytowallsurface.Keywords:wall-climbingrobot,PLCcontrolsystem,negativepressureadhering,sealingmodel20072102007210200721011.1(1)(2)(3)(4)(5)[1][2-7]JG.J102-2003210mm5mm1.2.3.4.1.4()2.JGJ-803.4.5.1.23[8-14]123441.31.3.1(Skywash)[15-17],1-133111.250mm51-1SkywashFig.1-1Skywashonsite(IPA)1-21-2.IPA1-3Fig.1-2.CleaningRobotofIPAFig.1-3.Wall-CleanningRobotofJapan6BVE1-3CLE-II[18-20]WashmanCleanout-I-I[21]X,YX,YX,YXXX,Y1-4CLE-IIFig.1-4CLE-IIwashing-robot71620003000/35kg,1-53W[22]105101-6[23]1-71-5Fig1-5CleaningRobotofBUAA1-63WFig1-6CleaningRobot3WofBUAA8Cleanbot-I,Cleanbot-II,,Cleanbot-ICleanbot-II1-8Fig1-8washing-robotofHK1-7Fig1-7CleaningRobotofSHU91.3.2Valve-regulatedMultipleSuckerVM1-91-9VMFig.1-9VMSuctionCupTomoakeYANO5[23]DomenicoLongoSCID10[24]J.SavallROBICENIII[25]ToshioFUKUDA[26]T.AKINFIEV[27]B.BAHR,Y.LI[28]11NikosTsourveloudis[29]JizhongXiao[30-32][33]1.4:12132.1200~5002232.22.2.1142-12.2.22-21.2.3.42-1Fig2-1SchematicofRobotSystem15111876543212131415161092-3H1.(x8)2.(x8).3.(x8)4.(x4)5.6.I(x2).7.(x12)8.II(x8)9.10.(x4)11.12.III(x2)13.(x2)14.III(x2)15.16.2-2Fig2-23DSchematicofRobot2-3Fig2-33DSchematicofNegativePressureUnit16HH2-42-5HH2-4Fig2-4AirdraftandGuideStructure2-5Fig2-5PlateStructure1720kg2-69123456780~40cm1.2.3.4.5.6.7.8.9.2-6Fig2-6DiagramforPneumaticcircuit182.32.3.12.3.2S7-200CPU226PLCPLCPLC2-7S7-200CPU19SIEMENSPLCCPU226123456A/DD/AEM235STR-6S7-200CPUCPUI/O♦CPU♦♦CPU♦S7-200CPU♦CPUI/O♦CPUI/O♦12-7Fig.2-7BlockDiagramofControlSystemofRobot202.345EM235PLC62.3.3PLCPLCPLCPLCPLCPLC212.42-8Fig.2-8FlowChartofSoftware223.13.1.1[34]3.1.2[35]233.20~40cm2~3123456789101.2.3.4.5.6.7.8.9.10.3-1Fig.3-1Overpassingtheobstaclewhentherobotclimbingalongtheglasswall24PLC3-11.2.3.4.5.23.33.3.13-23-33-425OTF1Ff1F1'FFf3F3'Ff4F4'Ff2F2'F2F4F33-2TNGNFNF11NF1'1NF22NF2'2NF33NF3'3NF44NF4'4N3-2Fig3-2ForceAnalyseofRobotWhenallSuctionCupsAreWorking26(3-8)(3-9)Ff11NFf22NFf33NFf44NPPaP0PaSmm3-2GFFFFTFyFFFF'F'F'F'FFFx'FfF'FfF'FfF'FfFP)S(PFFFFf4f3f2f1432143214f43f32f21f104321++++=++++=•=•=•=•=====‡”‡”0GFFFFTFy0FFFF'F'F'F'FFFxf4f3f2f143214321=++++==++++=‡”‡”(3-1)(3-2)(3-3)(3-4)(3-5)(3-6)(3-7)(3-8)(3-9)F]SPPf[4G)'F'F'F'f(FGFFF(FGTFSPP4FFFFF'F'F'F'F04321f4f3f2f1043214321)(=+++=)+++=)(=+++=+++F1'0F2'0F3'0F4'0T0(3-10)(3-11)(3-1)(3-2)(3-3)(3-4)(3-5)(3-6)(3-7)(3-10)(3-11)274fSfFGPP0F]SPPf[4G4SFPP0FSPP40000+Ë)(Ë)((3-12)(3-13)4SFPP4fSfFGP00+3.3.2141313-30=+++=0=+++=‡”‡”GFFFTFyFFF'F'F'FFFxf4f3f2432432(3-15)(3-16)3SFPP3fSfFGP00+(3-12)(3-13)(3-14)(3-15)(3-16)(3-17)28OTFFf3F3'Ff4F4'F2'F2F4F3GFf2OTFFf3F3'F2'F2F3GF1'F1Ff1Ff243-40=+++=0=+++=‡”‡”GFFFTFyFFF'F'F'FFFxf3f2f1321321(3-18)(3-19)3SFPP3fSfFGP00+133-5GFFTFyFF'F'FFFxf4f24242++=++=‡”‡”3-313-44Fig3-3ForceAnalysisofRobotWhenFig3-4ForceAnalysisofRobotWhenOnlyOneSuctionCupIsNotWorkingOnlyOneSuctionCupIsNotWorking(3-18)(3-19)(3-20)(3-21)(3-22)29OTFF4'F2'F2F4GFf4Ff2(3-21)(3-22)2SFPP2fSfFGP00+(3-14)(3-17)(3-20)(3-23)(3-19)2SFPP4fSfFGP00+3.4(3-24)3-513Fig3-5ForceAnalysisofRobotWhenTwoSuctionCupsIs(3-23)303.5314.14.24.2.1324