玻璃幕墙清洗机器人及控制系统.pdf

上海交通大学 硕士学位论文 玻璃幕墙清洗机器人及控制系统 姓名：张澎涛 申请学位级别：硕士 专业：机械电子工程 指导教师：赵言正 20050201 上海交通大学硕士学位论文 -I- 玻璃幕墙清洗机器人及控制系统 摘 要 采用玻璃幕墙作为外防护结构的高层建筑 因其采光性好 保温 防潮实用美观等特点近年来在我国大中城市日渐增多但随之带 来的繁重的清洗工作却仍然采用传统的人工清洗方式既危险效率 又低而且成本高 尽管国内外已经开始研究将壁面移动清洗机器人技 术应用于高楼外表面的清洗工作 但目前还没有实用化的自动清洗方 案清洗作业的自动化远未得到实现机器人的制造成本壁面适应 性越障能力以及清洗效率等关键问题制约了清洗机器人的发展 本论文针对国内外现有清洗机器人模型特点 在总结和借鉴各模 型吸附及移动机构的基础上 提出了一种采用双吸盘交替吸附式负压 吸附装置自身无驱动装置的高楼玻璃幕墙清洗机器人方案详细分 析了该清洗机器人机构的工作原理然后为了保证机器人可靠顺 利工作对基于主从分布式控制方案的机器人本体控制系统楼顶吊 装系统和地面遥控监控系统进行了研究最后给出了现场实验结果 并提出了设计方案的不足和改进之处 本论文根据玻璃幕墙清洗机器人的作业特点 提出并设计了一种 采用无驱动下滑方式作业的清洗机器人机构方案 研究了机器人采用 无驱动下滑作业方式的技术可行性 讨论了清洗机器人无驱动下滑时 满足吸附 清洗和下滑动作实现的条件以及分析可能存在的问题以及 玻璃幕墙清洗机器人及控制系统 -II- 解决措施最后对机器人跨越障碍过程进行了规划和分析并经试验 验证 本论文提出了基于无线通信方式的单片机和的机器人上 下位机控制系统方案上位机控制器可便携操作主要用来规划机器 人运动路径发送指令以及接收当前工作信息等机器人本体控制器 和楼顶吊装系统控制器均采用 P L C 作为下位机 通过多传感器信号感 知用来协调吸附移动和清洗动作并将当前状态发送给上位机显 示利用三相异步电机变频调速的原理设计了楼顶卷扬机电机的变 频调速系统并对风机转速的闭环控制进行了研究 本论文研究了无线通信系统方案 提出了基于无线数传模块的单 片机和之间的点对点的无线通信系统方案 设计了自由口模式 下单片机和的通信协议 并对无线通信的可靠性和差错控制进 行了研究 本文提出的基于双吸盘交替吸附式负压吸附单元的玻璃幕墙无 驱动清洗机器人方案经户外试验验证证实清洗效率越障能力以 及控制系统的可靠性等基本满足设计要求 能够有效解决清洗机器人 快速移动和越障复杂耗时之间的矛盾而且制造成本低对高楼玻璃 幕墙清洗作业的自动化提供了一种新的技术实现方案具有一定意 义 关键词 爬壁机器人负压吸附无驱动下滑无线通信主从 式控制 上海交通大学硕士学位论文 -III- GLASS-CURTAIN WALL-CLEANING ROBOT AND ITS CONTROL SYSTEM ABSTRACT It is well known that there are more and more high-rise buildings with glass-curtain walls in large and medium-sized cities in some decades in China due to its good daylight, thermal retardation, damp-proof and handsome shape. But the regular cleaning work is so tedious that the conventional dangerous manual cleaning working with low efficiency and high cost must be still taken because there are not still sophisticated automotive machines to replace human-beings. Some glass-curtain wall-cleaning robot prototypes have been proposed in some foreign and domestic labs. But, in this field, the automatic scheme of cleaning work is not still realized. The prime reasons are the high manufacturing cost, the low-level adaptability to complex glass wall surfaces, the ability of crossing obstacles and the cleaning efficiency. These factors don’t meet the requirement on cleaning glass-curtain wall-cleaning and hinder the development of the cleaning robot. This paper proposes a non-actuated wall-cleaning robot prototype using dual suction cup with adhering alternatively method based on the adhering mechanism and moving method of present foreign and domestic 玻璃幕墙清洗机器人及控制系统 -IV- wall-climbing robots, and the operating principle of the robot is analyzed in detail. Moreover, in order to guarantee the working reliability of the robot, the master-slave control system is described including the portable control system on the ground, control system of the robot and the control system of the lifting crane on the roof. At last, the experimental result on the spot is given and the weakness and the mechanical improvement measures are proposed. This paper presents a non-actuated glass-curtain wall-cleaning robotic system based on the working traits of cleaning robot when sliding down along glass surface while adhering and cleaning. The technical feasibility of the scheme is discussed and the implementation conditions are obtained when adhering, sliding down and cleaning simultaneously. Some possible occurring problems and corresponding solution measures are presented according to the new mechanism. Lastly, the procedure of crossing obstacles of cleaning robot, such as horizontal window frames, are planned and then analyzed. The experimental verification result proved that the robot can finish the cleaning work with trouble-free operation. Moreover, it can cross obstacles, depending on its own dual suction cups using adhering alternatively. This paper develops the master-slave control system of whole cleaning system using microcomputer and programmable logic controllers (PLC) using wireless communication method. The master 上海交通大学硕士学位论文 -V- controller can be manipulated portably by an operator and plays the following roles: planning the moving track manually, sending instructions and getting current working information. Two slave controllers, using PLC, are embedded in the robot and the crane, individually. They mainly synchronize all actions including adhering, moving and cleaning using feedback signals of multi-sensors, and transfer state information to the master. Based on the principle on frequency control of three-phase asynchronous machine, the frequency control system of the lifting crane on the roof is designed. The closed-loop PID controller on the rotational speed of the vacuum pump is adopted. The scheme of wireless communication system based on wireless data transmission module between the microcomputer and PLC point to point are used here and the communication agreement are described. The reliability and error control of wireless communication are studied. The non-actuated glass-curtain wall-cleaning robot which can cross obstacles using double suction cups with adhering alternatively method is verified by experimen。