摘要
针对高楼玻璃与室内高墙,设计了一种多功能清洁机器人,机器人整体结构为六足结构,采用三角步态运动方式,在真空泵、吸盘、舵机等零件的配合下,实现在玻璃与墙面上的垂直行走,并设计了可90°翻折的头部,在遇上较大障碍或者墙角时能够顺利通过,实现了连续作业,并设计了高压水泵、清扫机构,既可以清洗玻璃,又可以清扫墙面。绘制了结构图,对底板、头部进行了应力分析,在此基础上,制作了样机,对机器人的行走方式、安全性进行了分析。
A multi-function cleaning robot is designed using for tall building glass and interior walls which is six-legged structure and triangle gait locomotion. The robot can walk on vertical glass and walls with the cooperation of vacuum pumps,suction cups,steering gear and other parts. Its head can be 90 ° fold,for what it can successfully pass the large obstacle or a corner to achieve a continuous operation. It can clean not only the glass but also the wall because of the design of a high pressure water pump and cleaning mechanism.This paper presents the structure diagram of the robot and the stress analysis of its floor and head. On the basis,the robot＇s walking style and security is analyzed using a prototype.
出处
《组合机床与自动化加工技术》
北大核心
2018年第2期143-147,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
山东省高等学校科技计划项目(J15LB60)
关键词
机器人
六足
结构优化设计
运动分析
robot
six-legged
structural optimized design
kinematic analysis
