Based On The Modular Household Glass Cleaning Robot Mechanism And Control System Research

In recent years,with the increasing urbanization of China,more and more people have swarmed into cities,urban residential buildings have continued to develop in heights.In order to meet the needs of house glass cleaning,to free people from the heavy and dangerous housework,such as cleaning glass,the glass cleaning robot is used.Based on the research and summary of the technology and achievements of glass cleaning robot at home and abroad,this paper has developed a household glass cleaning robot which is aimed at the glass cleaning of residential buildings.This paper focuses on the following work.1.The determination of the overall plan of the glass cleaning robot.Applying modular design theory,first the basic functions,that is,the sub functions of glass cleaning robot for cleaning glass are determined.The correlation degree of the sub functions,such as functional correlation,assembly correlation,spatial correlation,energy correlation,information correlation and time correlation,is synthetically considered.Then the pedigree clustering method is used to gather all the sub functions to get the pedigree cluster diagram.According to the pedigree cluster diagram,the glass cleaning robot is divided into four functional modules,namely,the movement adsorption module,the support module,the control module and the cleaning module.The overall scheme of the glass cleaning robot is determined.2.The realization of the function module of the cleaning glass robot.This paper researchs the different functional modules of the robot,and builds a glass cleaning robot which is based on the frame structure electric drive vacuum sucker.In this paper,the robot cleaning module is mainly studied,and the function of the quick changing of the duster is realized in the structure,and the retractable scraper mechanism which can be used to clean the stains on the glass tightly,is put forward and studied,so as to ensure the efficient cleaning of the glass.3.Mechanical analysis of the glass cleaning robot.The static analysis of the force under different adsorption conditions is carried out,and the constraint conditions of the stable adsorption of the robot are obtained,and the structure and sucker of the robot are optimized.The finite element simulation of the two key components of the suction plate and the screw drive plate with the maximum stress is carried out,which verify that the two key parts can meet the requirements of the work.4.Research on control system of the glass cleaning robot,on the basis of the work for robot path planning,then PLC is used as the main controller,the hardware design ofthe control system,the distribution of the I/O port and hardware connection are completed.The control program is written by using the schneider software TwidoSuite,and the way of controlling the stepper motor with T type acceleration and deceleration is studied.The debugging of the program has been completed.5.In the end,the first generation of glass cleaning robot is tested and its adsorption function and motor function were verified.The results show that the robot structure is basically reasonable and easy to control.It lays a foundation for the further study of robot obstacle and more adaptive functions.