壁面吊挂清洗机器人碰壁缓冲问题研究

Research on colliding and cushioning of wall-suspension robot

从机器人自动上壁及缓冲的需求出发,分析了机器人拉力形成的机理、碰壁的原因和过程.利用空气动力学原理,给出了拉力的计算方法,采用机器人物理样机进行实验,对计算结果进行了验证.在拉力的作用下机器人与壁面贴合,同时伴随碰撞,其间冲击能量的吸收由机器人裙边和支撑机构所构成的缓冲装置承担.前者还要保证机器人贴壁后的密封,因此刚度不宜过大,后者还要保证机器人在壁面上稳定行走,因此它的刚度又不宜过小.给出了缓冲装置刚度的确定方法及其在裙边和支撑机构上的分配准则,可用于工程分析.

Based on the requirement of automatically getting on wall and cushioning, the form mechanism of pull force of robot, cause and process of touch wall were analyzed. Utilized the principle of aerodynamics, calculating method of the pulling force was given and the result was verified through experiment on the robot physical prototype. The robot closes to the wall under the effect of pulling force and collides at the same time. In the colliding process, cushion device which is composed of skirt edge and support mechanism undertakes absorption of impulsive energy. The former also guarantees sealing after the robot closing to the wall, its rigidity cannot become too strong. The later also guarantees that the robot walks steadily on the wall, so its rigidity cannot become too weak. The method of defining cushion rigidity was proposed. The criterions of assigning cushion rigidity to skirt edge and the support mechanism were given. This method could be used to engineering analysis of wall-suspension robot.