摘要
为满足方形楼梯扶手的清洗工作,设计了一种履带式楼梯扶手清洗机器。首先,对机器进行运动学分析,得出了机器的质心坐标方程。其次,对机器进行爬坡稳定性分析,得出了后倾极限坡度角为37.8°,滑移极限坡度角为26.6°。最后,利用ADAMS对不同坡度角的楼梯扶手进行运动仿真,仿真结果表明,与机器的爬坡稳定性理论分析结果相一致。通过手握机器对其施加2.5 N的力,可使机器在大多数楼梯扶手上平稳爬坡。在理论设计和分析的基础上,制作了样机并进行了试验,验证了机器的爬坡稳定性及清洗效率。该机器的设计与研究对后续楼梯扶手清洗机器的设计具有重要的参考价值。
In order to meet the cleaning work requirement of square stair handrail,a crawler type stair handrail cleaning machine is designed.Firstly,the kinematic analysis of the machine is carried out,and the coordinate equation of the center of mass of the machine is obtained.Secondly,the climbing stability of the machine is analyzed,and the backward slope limit slope angle is 37.8°and the slip limit slope angle is 26.6°.Finally,ADAMS is used to simulate the motion of stair handrails with different slope angles,and the simulation results show that the simulation results are consistent with the theoretical analysis results of the machine's climbing stability.By holding the machine by hand and applying a force of 2.5 N to it,the machine can climb smoothly on most stair handrails.On the basis of theoretical design and analysis,a prototype is made and tests were carried out to verify the climbing stability and cleaning efficiency of the machine.The design and research of the machine has important reference value for the design of the subsequent stair handrail cleaning machine.
作者
贺春灿
黄利武
詹忠洋
董海毅
HE Chuncan;HUANG Liwu;ZHAN Zhongyang;DONG Haiyi(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)
出处
《机械工程师》
2026年第2期67-71,共5页
Mechanical Engineer
基金
国家级大学生创新创业训练项目(202210407031)。
