摘要玻璃幕墙清洁机器人可以在垂直壁面上对墙体表面进行清洗，它可以美化城市环境，造福人类，应用前景十分广阔。本文介绍了国内外清洁爬壁机器人的研究现状，并在此基础上提出一种气动驱动的真空吸附式的清洁装置（清洁机器人）。

对玻璃幕墙的吸附式自动清洁装置进行总体方案设计，应用Pro/E建立了清洁装置的三维造型，分析了机器人不同工作状态的受力问题，对真空吸盘进行选型与校核，在力分析的基础上选用了气缸，绘制气动回路图，对主要元器件进行选型及设计。

机器人的爬壁系统由吸附系统和移动系统组成。机器人的主体机构由两个呈十字型组合的双作用无杆气缸组成，其中任意一个无杆气缸可以相对于另外一个平移，每个无杆气缸配置有可独立控制的腿足结构。腿足结构由一个提升气缸和真空吸盘组组成。控制系统作为机器人的重要部分，采用西门子公司的S7-300PLC系列实现机器人移动、吸盘吸附和清洗的顺序控制。48012

关键词  玻璃幕墙  清洁机器人  气动系统  真空吸附  PLC控制

毕业论文设计说明书外文摘要

Title  Design of adsorption-type automatic cleaning device  for glass curtain wall                             

Abstract

Glass-wall cleaning robot can move on the vertical wall to do cleaning and washing work. It can beautify environment of city and it will be widely used in the future. This dissertation provides a new cleaning device(cleaning robot)which is driven by Pneumatic technology and sucks the surface by vacuum adsorption driving by the slide of the cylinders based on the research condition of cleaning climbing robots in domestic and oversea at present. 

Overall design of glass curtain wall adsorption-type automatic cleaning device, through Pro/E to build three-dimensional model of the cleaning device. Analyze the stress problem of the different working states of the robot. Select and check the vacuum suckers. Based on the force analysis, select the cylinder and draw pneumatic circuit diagram. Do selection and design for the main components.

Climbing robot system is made up of mobile system and adsorption system. The main part of the cleaning climbing robot is made up of two parts, which have two double-acting cylinder. One of cylinder can translate to another arbitrarily and each one has configuration and control leg feet structures independently. Leg feet structure is made up of a lift cylinder and a group of vacuum chuck. Control system is the key part which uses Siemens S7-300 PLC for main body movement, chuck adsorption and cleaning of sequence control.

Keywords  Glass curtain wall  Cleaning robot  Pneumatic technology  Vacuum adsorption  PLC control

目   次

1 引言 2

1.1 课题背景及研究意义 2

1.2 清洁爬壁机器人在国内外的研究现状 2

1.3 清洁爬壁机器人的现存问题 2

1.4 课题的主要内容 2

1.5 本章小结 2

2 清洁爬壁机器人总体方案设计 2

2.1 机器人的设计思想 2

2.2 清洁爬壁机器人的爬壁系统 2

2.3 清洁爬壁机器人的清洗系统 2

2.4 清洁爬壁机器人的控制系统及辅助模块 2

2.5 本章小结