Research On Movement And Control System Of A Wall-Cleaning Robot

Robot is a product of traditional mechanism and modern electronic automatization technology, and it is a synthetic high technology result of many subjects such as computer science, cybernetics, mechanics, information science and electronic. It is a typical product of mechatronics. It is the automatic equipment which can imitate the action of mankind, it is precise and suitable for many kinds of complicated environment. The appearance and development of robot technology will not only replace man to do works that under terrible conditions, but also bring profound influence to the life of human society.A wall-cleaning robot is of robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-cleaning robots have greatly provoked word wide attention ever since it was born in the 1960s. A wall-cleaning robot discussed in this thesis is the robot that sweeps slick vertical wall, It has some practical value and applicable foreground.The article first introduced the domestic and overseas research situation of wall-cleaning robot, and expounded this articles'research goal and the significance. Aim at the special circumstance, one type of wall-cleaning robot was proposed, this type of robot adopts vacuum suction cup,frame structure. This robot uses the vacuum generator to gain adsorb power. The compressed air produced by compressor on the ground can drive the cylinder to get plane motion and extend or contraction motion of the legs. A cleaning head was fixed on the robot body. It can clean the area around the moving route of robot. The robot has automatic and manual operating mode. The operation is simple and convenient. The robot's working efficiency is very high. It can extricate the person from the dangerous work.The safe adsorption and the agile motion of wall-cleaning robot are the guarantee of high efficiency. For this, the robot body structural design and air circuit design was emphasized in this article. A type of frame configuration was proposed, it can rotate and move relatively, the request of agile motion was satisfied. For the safe adsorption, several vacuum suction cups were fixed on the leg of two frames. There are pressure sensor in suction cup, robot can't move when one group of suction cups'attraction is not enough large. The control system design based on the ease of operation and can realize automatic or the manual two kind of work mode. The robot in this article employs the programmable controller, it programming easily, work reliably, and has a good man-machine contact surface. Moreover we also have carried on a series of design calculation include the adsorption reliability computation and dynamics analysis. This robot has a simple novel configuration, a convenient control and high efficiency cleaning.