光伏清洁机器人设计.doc

PAGE PAGE 8 摘要 光伏太阳能板清洗机器人可在倾斜的光伏板上进行表面的清洗，本文设计的机器人系统由移动系统和吸附系统组成。移动吸附系统由十字框架结构和真空吸附结构组成，使机器人灵活移动，避障能力强。机器人主体部分由可以相互平移的两个呈十字型组合的无杆气缸，其中任意一个无杆气缸可以相对另一个进行平移，每个无杆气缸通过腿部支架可独立控制腿足结构。腿足结构是由拉杆气缸和一组真空吸盘组成。随着腿部的交替吸附和框架主体的相对运动，机器人实现壁面自由移动的功能。驱动方式由X方向和Y方向两个相互垂直的机构组成，分别选用一个双作用无杆气缸，安置在中间的主体支架上，真空吸盘组采用正三角排列和使用气动的驱动方式。控制系统是清洗机器人的关键部分，采用三菱公司的PLC-FX1N系列完成对机器人主体的吸盘脱离、本体移动、吸盘吸附和清洗的控制。 关键词：双作用拉杆气缸，十字架构，无杆气缸，PLC Abstract A photovoltaic solar panel cleaning robot can be cleaned on a sloping photovoltaic panel. The robot system designed in this paper is composed of a mobile system and an adsorption system. The mobile adsorption system is made up of cross frame structure and vacuum adsorption structure，enabling the robot to move flexibly and avoid obstacles. The body part of the robot consists of two cross shaped non rod cylinders that can be translated into each other，of which any rod cylinder can be shifted relatively to the other. Each rod cylinder can control the leg foot structure independently through the leg support. The leg foot structure is composed of a rod cylinder and a vacuum chuck. With the alternate adsorption of legs and the relative motion of the frame body，the robot can realize the free movement of the wall. The driving mode is composed of two mutually perpendicular mechanisms in the direction of X and the direction of Y. A double acting cylinder is chosen，and the main body is placed in the middle.The vacuum suction group adopts the positive triangle arrangement and the pneumatic driving mode. The control system is the key part of the cleaning robot. The PLC-FX1N series of Mitsubishi Co is used to complete the control of the suction disc disengagement，the movement of the body，the absorption and cleaning of the suction disc. Keywords: dual action bars cylinder，the architecture，pneumatic rodless cylinders，PLC 目录 TOC \t 样式1,1,样式2,2 \h 1 绪论 1 1 .1选题背景及其意义 1 1.2 文献综述（国内外研究现状与发展趋势） 2 1.3 研究内容 4 1.4 研究方案 5 1.5本章小结 7 2 光伏太阳能板清洁机器人总体结构设计 8 2.1 光伏太阳能板清洁