基于PLC的壁面清洗机器人

Wall cleaning robot based on PLC

为了解决高层建筑外壁清洗困难这一常见问题,设计了一种可以自动清洗的机器人,机器人用S7-300系列可编程控制器PLC进行调控,不仅提高了清洗效率,而且降低了成本。首先该清洗机器人采用起吊装置拉升的移动方来式实现机器人的前后左右移动,配合4组真空吸盘和激光传感器实现吸附和跨越障碍的功能,当机器人到达预定位置,前两组吸盘开始工作,在真空泵作用下吸附在壁面上,其次机器人本体上的接收器收到指令,开始进行清洁剂与水的喷射,最后根据预定的路径进行移动,在滚子和刮板的作用下完成清洗过程。通过MATLAB进行了仿真,仿真结果显示机器人刚启动时有轻微晃动,误差在1cm以内,4s后运行轨迹趋于平稳,呈直线状态。仿真结果表明该机器人运行平稳,可以按照预期的路径进行壁面的清洗,清洗效率高,整体结构简单,生产成本较低,达到了预期的效果。

In order to solve the common problem of high-rise building wall cleaning difficulty,a kind of robot which can be automatically cleaned is designed.The robot is controlled by S7-300series programmable controller PLC,which not only improves the cleaning efficiency,but also reduces the cost.Firstly,the cleaning robot uses the lifting device to lift the mobile side to realize the left and right movement of the robot.It cooperates with four groups of vacuum suckers and laser sensors to achieve the function of adsorption and crossing obstacles.When the robot reaches the predetermined position,the first two groups of suckers begin to work and are adsorbed on the wall under the action of vacuum pump.Next,the receiver on the robot body receives instructions to start spraying cleaner and water.Finally,the cleaning process is completed under the action of rollers and scrapers.The driving system is simulated in MATLAB.The simulation results show that the robot sways slightly when it starts,and the error is within 1cm.After 4s,the trajectory tends to be stable and linear.The simulation results show that the robot runs smoothly and can clean the wall according to the expected path.The cleaning efficiency is high.The whole structure is simple and the production cost is low.The expected effect is achieved.