| 周倪敏， 刘超峰， 张航， 方彤， 刘杰， 董成.立面三维可越障清洁机器人系统[J].轻工机械,2021,39(2):12-16 |
| 立面三维可越障清洁机器人系统 |
| 3D Obstacle Climbing Robot for Facade Cleaning |
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| DOI：10.3969/j.issn.1005 2895.2021.02.003 |
| 中文关键词: 清洁机器人 无人机技术 越障策略 旋翼吸附 履带式行星轮 |
| 英文关键词:cleaning robot UAV（Unmanned Aerial Vehicle） technology obstacle crossing strategy rotor adsorption track typeplanetary gear |
| 基金项目: |
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| 中文摘要: |
| 针对目前立面清洁机器人壁面吸附能力与越障能力不足的缺点，课题组设计了一种基于4旋翼无人机技术的立面三维可越障清洁机器人机械系统。针对外墙清洁机器人的运动策略及越障策略，采用旋翼吸附的原理，设计了机器人系统结构及机器人本体结构组成；采用无人机技术和升降系统的设计，实现了机器人本体6自由度方向的运动能力；采用无人机技术和履带式行星轮，实现了机器人的越障功能。进行了样机实验，结果表明该机器人具备运动与越障的可行性和平稳性。 |
| 英文摘要: |
| In view of the insufficient wall adsorption capacity and obstacle crossing ability of the current facade cleaning robot, a 3D obstacle surmounting robot mechanical system based on UAV technology was designed. Aiming at the motion strategy and obstacle crossing strategy of the facade cleaning robot, the mechanical system and the body structure composition of the facade 3D cleaning robot based on the principle of rotor adsorption were designed. By using UAV technology and the design of lifting system, the motion ability of the robot body in six degrees of freedom was realized. Using UAV technology and track type planetary gear, the obstacle crossing strategy of the robot was achieved. The experimental results show that the robot has the feasibility and stability of movement and obstacle surmounting. |
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