倒锥面高层玻璃幕墙清洗机器人设计

为满足倒锥面高层玻璃幕墙清洗机器人对小质量、高可靠性、高安全性的要求,提出了运动驱动分散配置、主运动与辅助运动一体化、主运动柔性驱动的机器人结构设计原则;针对具体建筑结构设计了完备的清洗机器人系统,讨论了机器人对作业对象遍历运动和吸附、清洗功能的实现方法;分析了机器人系统对建筑结构误差的适应能力,证明了柔性驱动结构的可行性.在上述基础上开发了倒锥面高层玻璃幕墙清洗机器人系统,并进行了现场试验,证明了系统的实用性和可靠性.该系统已成功应用于机场指挥塔幕墙的清洗作业. 

Cleaning robot design for cone high-rise glass-curtain wall

To fulfill the demand for the lightness,high reliability and safety,three structure design principles were proposed for a cone high-rise glass-curtain wall cleaning robot.The whole cleaning robot structure was designed based on the principles which were described as the motion driver dispersed configuration,the main and secondary motion integrative drive and the soft drive structure for the main motion.The methods adopted by the robot to go through,attach and clean the glass-curtain wall were detailed consequently.The architecture dimension error's infection to the robot was analyzed to testify the feasibility of the soft drive structure and the adaptability of the robot to the error.The cleaning robot for an airport control tower was developed according to the principles discussed.The practicability and reliability of the robot were testified by the fieldwork.The cleaning robot system proposed is now used for the airport control tower's daily cleaning service.