文档介绍：爬壁清洗机器人设计 I 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 PLC-FX1N 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 爬壁清洗机器人设计 II Abstract High-rise 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 beof mutual translation bination of the two four-arm 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 isby 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 pany PLC-FX1N series ofof the main body of the plete suckers, its mobile, chuck from adsorption and cleaning of control. Keywords: dual action bars cylinder, the architecture, pneumatic rodless cylinders, PLC 爬壁清洗机器人设计 III 目录 1 绪论--------------------------------------------------------------------------------------- 1 ---------------------------------------------------------------------------- 1 文献综述(国内外