用于玻璃幕墙现场检测的爬壁机器人的研制

摘要

This paper presents a double-cavity wall-climbing robot based on the principle of negative pressure adsorption for field testing of glass-curtain-wall ,which can walk on glass-curtain-walls freely and conduct security inspection with its testing equipment . In this paper the general scheme of the field testing for the hidden-frame glass-curtain-wall is proposed .Furthermore ,the mechanical structure ,security inspection method and control system are discussed in detail .Finally ,the results of wall-climbing experiments and vibration testing experiments prove the effectiveness of detecting the safety of the glass-curtain-wall by climbing robots .%介绍了一种用于玻璃幕墙现场安全检测的双腔体负压爬壁机器人，该机器人基于负压吸附原理，能够在玻璃壁面上自由移动并通过检测设备对玻璃进行安全检测。提出了全隐框玻璃幕墙检测方式的总体方案，并详细论述了机器人的机械结构、安全检测方案以及控制系统。通过机器人爬墙实验以及振动检测实验验证了将爬壁机器人用于幕墙玻璃安全性现场检测的合理性。