摘 要壁面清洗機器人是一個實用性很強的裝置。自從本世紀六十年代以來，爬壁機器人及其相關(guān)技術(shù)受到人們的廣泛關(guān)注，但是，大都是進行了一些試驗性質(zhì)的研究，其相關(guān)的理論分析尚不成熟。作為清洗用的爬壁機器人來說，其清洗工作具有簡單、重復(fù)的特點，比較適合機器人自主工作，壁面清洗機器人是以清洗高層建筑為目的的壁面移動機器人，它的出現(xiàn)將極大降低高層建筑的清洗成本，改善工人的勞動環(huán)境，提高生產(chǎn)率，也必將極大地推動清洗業(yè)的發(fā)展，帶來相當(dāng)?shù)纳鐣б婧徒?jīng)濟效益。因此，壁面清洗機器人有著良好的應(yīng)用前景。本文首先對壁面清洗機器人這個課題的來源、目的及意義進行了闡述，簡單介紹了國內(nèi)外壁面清洗機器人的發(fā)展情況，對壁面清洗機器人的幾種不同的移動方式及吸附方式進行了比較，最后采用了多吸盤的框架式結(jié)構(gòu)，具有結(jié)構(gòu)簡單、操作方便等優(yōu)點。接著對壁面清洗機器人的總體方案進行了設(shè)計，設(shè)計了行走機構(gòu)以及轉(zhuǎn)向機構(gòu)，通過平動氣缸與腿部氣缸來實現(xiàn)機器人的移動，并且通過對壁面吸附可靠性的分析選擇了吸盤、吸盤支座及快擰接頭等部件，還對其它的氣動元件進行了選型，并且繪制了氣壓系統(tǒng)圖。最后對壁面清洗機器人的控制系統(tǒng)進行了設(shè)計，采用了三菱的 FX 系列可編程控制器進行控制，并對可編程控制器的結(jié)構(gòu)特點及工作原理進行了簡單的介紹，然后分析了本設(shè)計中壁面清洗機器人的工作過程，對可編程控制器的輸入輸出端口進行了分配，并且編寫了程序的梯形圖。關(guān)鍵詞：壁面清洗機器人，多吸盤的框架式結(jié)構(gòu)，行走機構(gòu)，轉(zhuǎn)向機構(gòu)，壁面吸附可靠性，可編程控制器ABSTRACTWall-cleaning robot is a very practical device.Since the sixties of this century,the climbing robot and related technology have greatly provoked word wide attention.But most of them are carried out some pilot studies,the relevant theoretical analysis is not yet mature.Used as a cleaning climbing robot,its cleaning is simple and repetitive,and to compare autonomous robots for work.Wall-cleaning robot is cleaning high-rise building wall for the purpose of mobile robot,its appearance would be extremely reduce the cost of cleaning high-rise buildings,improve the working environment of workers and increase productivity.It will also greatly promote the cleaning industry, bringing considerable social and economic benefits.Therefore,the wall-cleaning robot has a good prospect.This article first wall-cleaning robot from the subject,purpose and meaning is described,briefly introduced the development of domestic and international situation wall-cleaning robot for wall-cleaning robot moving in several different ways and adsorption compared.Finally,using the framework of multi-suction-type structure,with simple and convenient operation.Then on the wall-cleaning robot has been designed overall program designed to walk institutions and steering mechanism,through the translation cylinder and cylinder to achieve the robot’s legs move,and by adsorption on the wall of the reliability of selected sucker,sucker bearing and quick screw joints and other components,also carried out other pneumatic components selection,and rendering the air pressure system diagram.Finally,wall-cleaning robot control system design,using a Mitsubishi FX series programmable controller to control,and the structural features of PLC and working principle of a simple introduction,and then analyzes the design the working process of wall-cleaning robot,the programmable controller input and output ports of the distribution,and has prepared a program of the ladder.Key words:wall-cleaning robot, framework of multi-suction-type structure, walk institutions, steering mechanism, adsorption on the wall of the reliability, the programmable controller目 錄1 緒論 ----------------------------------------------------------------------------------------------------------11.1 爬壁機器人 ---------------------------------------------------------------------------------------11.2 課題的來源、目的與意義 -------------------------------------------------------------------21.3 國內(nèi)外壁面清洗機器人的研究現(xiàn)狀 -----------------------------------------------------21.4 課題主要內(nèi)容及技術(shù)參數(shù) -----------------------------------------------------------------121.5 本章小結(jié) -----------------------------------------------------------------------------------------132 壁面清洗機器人設(shè)計 ----------------------------------------------------------------------------142.1 壁面清洗機器人的組成 ---------------------------------------------------------------------142.2 行走機構(gòu)的設(shè)計 -------------------------------------------------------------------------------152.3 轉(zhuǎn)向機構(gòu)的設(shè)計 -------------------------------------------------------------------------------232.4 吸附裝置的選取 -------------------------------------------------------------------------------272.5 壁面清洗機器人的框架以及吸盤安裝板的設(shè)計 ----------------------------------312.6 控制閥及其它氣動元件的選取 ----------------------------------------------------------342.7 氣路的設(shè)計 --------------------------------------------------------------------------------------372.8 本章小結(jié) -----------------------------------------------------------------------------------------383 壁面清洗機器人控制系統(tǒng)設(shè)計 ------------------------------------------------------------393.1 引言 ------------------------------------------------------------------------------------------------393.2 可編程序控制器的簡單介紹 --------------------------------------------------------------393.3 壁面清洗機器人控制系統(tǒng)的設(shè)計 -------------------------------------------------------443.4 本章小結(jié) -----------------------------------------------------------------------------------------524 結(jié)論 --------------------------------------------------------------------------------------------------------53參考文獻 ---------------------------------------------------------------------------------------------------54致謝 -----------------------------------------------------------------------------------------------------------55