| 摘要: |
| 目的 设计一种可以为高层建筑外墙进行清洗的机器人， 其主体结构包括行走机构和机器手机构。方法 针对高层建筑外墙清洗作业需求， 设计了基于电磁吸盘原理机器人的爬墙行走机构。采用PLC三轴联动位控单元技术， 设计了具有清扫功能的机器手。结论 利用行走机构中的电磁吸盘技术， 克服了机器人墙壁拐角、 墙缝行走效果不理想、 行走速度慢等缺点， 丰富了机器人工作环境， 提高了清洗机器人的工作质量。 |
| 关键词: 高层外墙 爬墙机器人 机器手 电磁吸盘 PLC |
| DOI： |
| 分类号:TB472 |
| 基金项目:北京市信息服务工程重点实验室资助项目 （Zk20201304） |
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| Building External Walls Cleaning Robot Design |
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ZHANG Li-xia1, YANG Zhi-cheng2, ZHANG Jing-sheng2, ZHANG Wen-ge1
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1.Beijing Key Laboratory of Information Service Engineering， Beijing Union University， Beijing 100101， China;2.Biochemical Engineering College of Beijing Union University， Beijing 100023， China
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| Abstract: |
| Objective It introduced a robot of building external walls cleaning job，whose main structure are composed of walking mechanism and robotic arms. Methods According to the requirements of building external walls cleaning job， it designed the climbing walking mechanism based on electric magnetic chuck principle， and machine hand with cleaning function using PLC three axis position control unit technology. Conclusion With the cleaning function of the machine hand， it solved the robot wall corner， wall joint walking poor， slow and other shortcomings， enriched the robot working environment， and improved the quality of cleaning robot. |
| Key words: building exterior wall climbing robot machine electric magnetic chuck PLC |
