目录

摘要

Abstract

1 绪论

1.1 选题背景及意义

1.2国内外研究现状与发展趋势

1.2.1国外研究现状与发展趋势

1.2.2国内研究现状与发展趋势

1.3高楼清洗爬壁机器人存在的问题

1.4 研究内容

1.4.1爬壁清洗机器人的爬壁系统的设计

1.4.2爬壁清洗机器人的清洗作业系统设计

1.4.3爬壁清洗机器人的控制系统设计

1.5本章小结

2 爬壁清洗机器人总体方案

2.1 设计准则与要求

2.2爬壁清洗机器人行走越障机构设计

2.3 爬壁清洗机器人清洗装置设计

2.4 本章小结

3 爬壁清洗机器人清洗机构的设计

3.1滚刷装置的设计

3.2清洗液的喷洒和循环装置设计

3.3水泵的选择

3.4本章小结

4 爬壁清洗机器人爬壁越障机构的设计

4.1爬壁清洗机器人驱动方式

4.2吸附装置的设计

4.3机器人跨越障碍和路径规划

4.4气缸运动部分

4.5本章小结

5 爬壁清洗机器人控制部分设计

5.1 PLC的概述

5.2 PLC选型

5.3 PLC的I/O口分配

5.4 PLC控制框图

5.5本章小结

结论

参考文献

致  谢

附录A 装配图和零件图

附录B 外文翻译

摘要

随着经济的不断发展和建筑行业的兴起，摩天大楼如雨后春笋般涌现出来。世界上最高的大楼是迪拜的哈利法塔，高828米，楼层共有162层，玻璃幕墙面积达到14.2万平方米。中国修建的最高大楼为上海中心大厦，总高度为632米，玻璃幕墙达14万平方米。这些建筑都是科技的结晶，也是每一个城市的地标性建筑。但是玻璃幕墙在给人们美观享受的同时，也会带来一些清洁上的问题。这些高楼外墙的清洗工作是由人工完成，人工清洗耗费时间长，耗资巨大也非常容易出事故，危险性很高。当机器人技术越来越成熟，高层建筑大多采用玻璃做幕墙时，机器人代替人工进行清洗作业已成为应用趋势。因此，爬壁清洗机器人具有广阔的应用前景和良好的社会效益。
本论文在机器人本体上安装清洗装置，利用吸盘来吸附墙面。驱动方式采用气缸来实现吸盘的抬起和落下，通过两个可以相对转动的吸盘实现移动行走，使玻璃幕墙的清洗过程实现自动化。本文采用Proe来完成机器人的三维图绘制并进行结构主体参数设计。最后，通过PLC进行爬壁清洗机器人控制部分的设计。

关键词：爬壁清洗机器人；Proe；PLC

Abstract

 With the continuous development of the economy and the rise of the construction industry, skyscrapers have sprung up.The tallest building in the world is Burj Khalifa in Dubai. It is 828 meters high, with 162 floors and 142,000 square meters of glass curtain walls. The tallest building built in China is the Shanghai Center Tower, with a total height of 632 meters and a glass curtain wall of 140,000 square meters. These buildings are the crystallization of science and technology and are landmarks for every city. However, the glass curtain wall will bring about some clean problems while people enjoy it. The cleaning of these high-rise exterior walls is done manually. Manual cleaning takes a long time. It is very costly and accident-prone. The danger is high. When robot technology becomes more and more mature, and high-rise buildings mostly use glass as the curtain wall, robots have become an application trend instead of manual cleaning. Therefore, wall-climbing robots have broad application prospects and good social benefits.
In this paper, a cleaning device is installed on the robot body, and a sucker is used to adsorb the wall surface. The driving method adopts a cylinder to realize the lifting and falling of the sucker, and the movable walking is achieved through two suckers that can relatively rotate, so that the cleaning process of the glass curtain wall is automated. This paper uses Proe to complete the three-dimensional drawing of the robot and design the main parameters of the structure. Finally, the design of the control part of the wall-climbing robot is performed through the PLC.
Keywords: Wall climbing cleaning robot；Proe； PLC 

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