摘要
提出并设计了一种配有新型自动配气机构的履带吸盘式爬壁清洁机器人,介绍了其整体结构和吸盘的具体配气方式。该种新型配气机构可自动实现吸盘配气与履带行走的联动,并具有可靠性高、结构简单等优点。针对铅垂壁面清洁工况,基于机器人静力学分析,得出了吸盘内气压值需满足的范围要求,并结合机器人参数进行了数值计算。
In this paper,a track-suckers wall-climbing cleaning robot with a new automatic gas allocation mechanism is put forward and designed,and its structure and the gas allocation of suckers are introduced.This kind of gas allocation mechanism can automatically realize the coordinated motion between the gas allocation and the track locomotion with satisfactory reliability and simple structure.Based on the static analysis of cleaning robot in the vertical wall walking condition,the pressure range in the suckers is obtained and the numeral calculations are carried out in allusion to the robot parameters.
作者
占卓帆
钱瑞明
Zhan Zhuofan;Qian Ruiming(School of Mechanical Engineering,Southeast University,Jiangsu Nanjing,211189,China)
出处
《机械设计与制造工程》
2019年第1期1-4,共4页
Machine Design and Manufacturing Engineering
关键词
清洁机器人
履带吸盘行走机构
自动配气机构
静力学分析
cleaning robot
track-suckers locomotion mechanism
automatic gas allocation mechanism
static analysis
