Subjects
33 Ciencias tecnológicas
3313 Tecnología e ingeniería mecánicas
331314 Máquinas-herramienta y accesorios
Aspiradora automática para la limpieza de suelos
Abstract
La limpieza del hogar es una tarea cotidiana, que se debe realizar, y a la que sin
duda ayudan las aspiradoras, pero resulta tediosa, y ocupa un tiempo que se
podría emplear en otras actividades. De la misma manera que en la industria se
utilizan robots que realizan trabajos tediosos, difíciles o peligrosos sin
necesidad de supervisión, se pueden diseñar máquinas que se ocupen de
trabajos domésticos.
El presente proyecto trata el diseño y montaje de un robot que sea capaz de
limpiar completamente el suelo de una habitación. Para su realización se partió
de un modelo anteriormente construido.
Existen ya en el mercado aspiradoras autónomas que realizan esta función,
algunas de las cuales se pueden ver en la figura siguiente, pero se encuentran
como inconvenientes la imposibilidad de alcanzar todos los rincones que se
deben limpiar y la falta de un sistema de navegación que permita optimizar la
limpieza y los movimientos del robot. Estos dos inconvenientes tratan de
solucionarse con la inclusión de un brazo telescópico que permita acceder a las
zonas difíciles, y la programación de la navegación, tratada en un proyecto
paralelo.El robot diseñado consiste en una base de aluminio, sobre la que se disponen
los distintos elementos que permiten el funcionamiento del robot. Su
movimiento se realiza mediante tracción diferencial, con dos ruedas motrices,
accionadas por motores independientes y una loca. La aspiración se realiza a
través de la diferencia de presiones creada por un ventilador, situado sobre el
depósito de polvo, que es el que hace que se absorba el aire, y con él la
suciedad. El robot puede aspirar bien por una boca situada en la parte delantera
o bien por el brazo. Una válvula gobernada por un servo es la que permite que
el aire se tome de uno u otro lugar.
La aspiradora dispone de una serie de sensores de contacto, de infrarrojos y de
ultrasonidos, que le indican obstáculos tanto a la hora de desplazarse como para
el movimiento del brazo.
Todos estos cómponentes se controlan mediante una Tarjeta de Control de
Sensores (TCS), desarrollada en ICAI, conectada a una PDA que contiene el
programa necesario para la navegación.
Además, se han diseñado algunos circuitos, principalmente para proporcionar
potencia a los actuadores. Los resultados del rediseño fisico del robot son excelentes: se han reducido el
tamaño y el peso en un 40% respecto al proyecto anterior, y además se ha
incrementado la longitud del brazo de 70 a 85 cm.
En cuanto a funcionalidad, se redujo la potencia de aspiración más de lo
recomendable, de modo que no realiza una limpieza aceptable con un
ventilador de 12W.
Se puede concluir del proyecto realizado que la inclusión de un brazo que
permita llegar a zonas dificiles no debe suponer un gran incremento del tamaño
del robot, que sólo supera en altura a los modelos comerciales. Además la
altura del robot no es tan clave como en éstos ya que en caso de necesidad será
el brazo el encargado de limpiar, siendo su altura la realmente importante.
Es viable la construcción de un robot como el diseñado, aumentando la
potencia de aspiración, que pudiera competir en el mercado, si bien sería
necesario añadir algunas funciones nuevas, por medio de electrónica y
programación, así como mejorar características para minimizar las pérdidas de
carga en el brazo y la válvula, principales fuentes de las mismas
Home cleaning is a daily task, that must be done, and to which undoubtedly vacuum cleaners help, but it works out to be tedious, and it takes time that could be used to carry out other activities. The same way robots are used in the industry to carry out tedious, difficult or dangerous jobs without supervision, machines that look after housework can be used. The present project deals with the design and assembly of a robot that is able to completely clean a room floor. A previously built model was the starting point for its execution. Autonomous vacuum cleaners that carry out this function already exist in the market, sorne of them can be seen in the figure below, but they have sorne limitations, as the inability to reach every spot that must be cleaned and the lack of a navigation system which should optimize the guiding of the robot. These two problems are solved by the inclusion of a telescopic arm that permits access to difficult areas, and the navigation programming, discussed in a parallel project The designed robot consists of an aluminium base, on which different elements that are necessary for the robot to work are arranged. lts movement is done through a differential drive, with two motive wheels and an idler wheel. Aspiration is done through the difference of pressure created by a fan, placed over the dust tank, which makes the air, and the dirt with it, to be absorbed. The robot can suck air through an entrance placed in the front part or through the arm. A valve, operated by a servo, allows air to be sucked from one entrance or the other. The vacuum cleaner has got a series of contact, infrared and ultrasound sensors, which indicate obstacles in the way when it moves, as well as when the arm is being used. Ali these components are controlled by a Sensor Control Card (SCC), developed at ICAI, connected to a PDA that contains the navigation program. Additionally, sorne circuits were designed, mainly to provide the actuators with power The results of the physical redesign of the robot are excellent: Size and weight ha ve been reduced by 40% from the previous project, and the length of the arm has increased from 70 to 85 cm. Regarding to functionality, power was reduced more than advisable, so it does not carry out an acceptable cleaning with a 12W fan. lt can be concluded from the project that the inclusion of an arm in arder to reach difficult cleaning areas must not mean a big increase in the size of the robot, which only exceeds in height the commercial models. In this robot, the height is not so important, because if needed, the arm will do the cleaning. The key factor then is the arm height. lt is feasible to build a robot like the one designed in this project, increasing the aspiration power, that could compete in the market. But it would be necessary to add sorne new functions, through electronics, as well as improving sorne features, in order to minimize load losses at the arm joints and at the valve, which are their main sources.
Home cleaning is a daily task, that must be done, and to which undoubtedly vacuum cleaners help, but it works out to be tedious, and it takes time that could be used to carry out other activities. The same way robots are used in the industry to carry out tedious, difficult or dangerous jobs without supervision, machines that look after housework can be used. The present project deals with the design and assembly of a robot that is able to completely clean a room floor. A previously built model was the starting point for its execution. Autonomous vacuum cleaners that carry out this function already exist in the market, sorne of them can be seen in the figure below, but they have sorne limitations, as the inability to reach every spot that must be cleaned and the lack of a navigation system which should optimize the guiding of the robot. These two problems are solved by the inclusion of a telescopic arm that permits access to difficult areas, and the navigation programming, discussed in a parallel project The designed robot consists of an aluminium base, on which different elements that are necessary for the robot to work are arranged. lts movement is done through a differential drive, with two motive wheels and an idler wheel. Aspiration is done through the difference of pressure created by a fan, placed over the dust tank, which makes the air, and the dirt with it, to be absorbed. The robot can suck air through an entrance placed in the front part or through the arm. A valve, operated by a servo, allows air to be sucked from one entrance or the other. The vacuum cleaner has got a series of contact, infrared and ultrasound sensors, which indicate obstacles in the way when it moves, as well as when the arm is being used. Ali these components are controlled by a Sensor Control Card (SCC), developed at ICAI, connected to a PDA that contains the navigation program. Additionally, sorne circuits were designed, mainly to provide the actuators with power The results of the physical redesign of the robot are excellent: Size and weight ha ve been reduced by 40% from the previous project, and the length of the arm has increased from 70 to 85 cm. Regarding to functionality, power was reduced more than advisable, so it does not carry out an acceptable cleaning with a 12W fan. lt can be concluded from the project that the inclusion of an arm in arder to reach difficult cleaning areas must not mean a big increase in the size of the robot, which only exceeds in height the commercial models. In this robot, the height is not so important, because if needed, the arm will do the cleaning. The key factor then is the arm height. lt is feasible to build a robot like the one designed in this project, increasing the aspiration power, that could compete in the market. But it would be necessary to add sorne new functions, through electronics, as well as improving sorne features, in order to minimize load losses at the arm joints and at the valve, which are their main sources.
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