Study And Design Of New Cleaning Climbing Robot For High-Rise Building

In the field of robots, with the development of industrialization and arrival of informatization, many high-rise buildings have been built and have brought new urban scenery to cities, which have derived from the heavy task of cleaning. Most of the high-rise buildings walls cleaning works were finished by workers themselves, which not only cause low efficiency but also environments are bad and easy to have accidents when workers cleaning the high-rise building walls. High-rise buildings cleaning climbing robot appears in this background, which is dangerous to the workers. It belongs to one of mobile service robots and can move on the vertical wall and on the top of the buildings to do cleaning and washing work. Researches on high-rise climbing robot can realize the automatic cleaning and changing the peripheral equipment to adapt to the other operating tasks. The main system dynamic robot carrier can apply deeply into nuclear industry, petrochemical, fire, and shipbuilding industry etc.From home and abroad for high-rise cleaning climbing robot researches, which have lasted decades of history and developed different kinds of cleaning climbing robot. But overall, there are still some problems abort researching and producing the robot. First are the contradictions of adsorption ability and wall working adaptation. The existing to the chuck of surface-cleaning robot has bad adaptation in wall working. This is because the outside building wall has complex shape structure, various materials. It also has groove joints, uplift and sag area on the wall. Most difficult problems, for example,seal, mobile and across, need to be solved. If not, it will influence working efficiency of the cleaning climbing robot. Secondly, mobile technology and exercise flexibility is contradiction to each other. At practical work, it need robot to carry a certain weight, that is to say the load weight. At the same time, it need to consider miniaturization and efficiency of the structure, which can make cleaning climbing robot move on the wall or glass in flexible directions. Thirdly, control technology and reliability is contradictory. In order to use robot to do cleaning work instead workers and control them and remove too much power, communication and telecom, etc from the robot body is also important. However, this may also make robots to bear overweight because of the battery and the rising cost of negative impact. Lastly, cleaning and load weight is contradictory. Designing safe and effective cleaning and sewage reuse can identify the quality of cleaning and achieve satisfactory cleaning effect. But if the organization of design is unreasonable or too multifarious, it will make robot weight overload and reduce flexible of robot and increase the cost of the cleaning climbing robot.Considering unique feature of wall work and studying autonomous moving robot at home and abroad, a new type of cross frame-type wall cleaning robot, which have air-powered system and can neatly movement with vacsorb. The robot will free cleaning workers drastically from cleaning high-rise buildings in bad environments and become main forces of building cleaning, which will realize the intellectualization, generalization and industrialization in robot application field.Cleaner is fixed on the ontology of robot. The robot does cleaning work along planned route. Dirt of high-rise building wall is atmospheric dirt and cleaning system is one of the important components of cleaning climbing robot. Considering the work environment of working, cleaning efficiency and environmental protection request, the whole system includes rolling brush system, spray system, water recycling system, sewage treatment system and cleaning system, which adopts flushing, scrub and wash in joint action of cleaning work. Scraper can scrape and recovery of liquid surface remaining on the wall surface and run into the bank through the sewage pipe. Recycling and reuse of sewage of cleaning climbing robot achieve self-sufficiency in water, which increases the efficiency and reduces cleaning robot load weight.Mobile and adsorption robot system is the core part of cleaning climbing robot which is made up of moving system and adsorption system. Moving and adsorption system design framework solution and vacuum absorption solution, which makes robot flexible to move and has high ability of obstacle-avoiding. The main part of the cleaning climbing robot is made up of two parts, which have two frameworks and have mutual translations on the ontology of robot. One of frameworks can translate to another arbitrarily and each frame has configuration and control leg feet structures independently. Leg feet structure has a active and joint initiative. With the legs of the alternate adsorption and framework of the relative movement of body, cleaning climbing robot realize free mobile on the high-rise building wall. It is driven by X direction and Y direction that are made of two perpendicular organizations of the ontology robot. Each direction framework which uses dual role pneumatic rodless cylinders is chosen and is set in the middle of the installation cabinet of the cleaning climbing robot.The cross framework structure of moving system mainly adopts hollow-out plate structure of .high-strength aluminum alloy material to produce. It not only improves the whole stiffness of the cleaning climbing robot, but also avoids the increase of the weight of the robot when it is during the cleaning work process. Four cylinders in Z direction realize lift and falling movement during the work process. Frame structures are mainly dependent on structure of ontology freedom and leg feet of freedom. Each part has simple structures and can satisfy requirement of flexibility and mobility.According to the work of cleaning climbing robot systems, adsorption system uses chuck group structure of vacsorb and gas drive structure. It effectively meets the request of load capacity, speed ability and obstacle-navigation ability. It is reliable operation of the mobile mechanism of surface, which make system reliable, easy and easy to operate. Vacuum suckers use regular triangle arrangement and pneumatic to drive. Chuck group structure form is good for using the elastic deformation of sucker, improve obstacle-climbing capability and ensure the adsorption of the wall sucker, which improve the safety and reliability of the robots work. This paper mainly chooses German selection of vacuum components of Festo Company and optimizes the combination of vacuum components and pneumatic components. It makes rational design parameters and high modular degree and meet designing of the ontology of robot. Through calculating the diameter and number of sucker and reasonable arrangement of sucker layout, considering the load and air capacity of system to choose appropriate air compressor and cylinder and draw pneumatic chart.Path of robot homework is planned. In order to enhance cleaning efficient of robot, it ask less requests in the whole process of movement in path planning and bigger unit area of cleaning, which ensure the same direction of main movement and path planning. Avoiding secondary pollution of buildings, movement path is designed from the top-down. Due to obstacle-navigation obstacles of the windows, it will simplify many path planning.Control system is the key part of cleaning climbing robot. This paper uses Siemens S7-300 PLC for the chuck out of ontology, main body movement, chuck adsorption and cleaning of sequence control. In order to control conveniently and operate simple, PLC controller is fixed in the robot ontology. Through the automatic control and manual control of the whole robot, fault diagnosis and comprehensive management, each part of the robot work coordinately and cooperate.Through 3d software UG design of robot to build three-dimensional modeling and animation model, simulation the motion mechanism and do analysis by finite element analysis and institutions to get the animation result. Through the observation and analysis of simulation results, test the moving parts without interference and smooth operation to prove the feasibility of the system design and movement. This paper does analysis of subject of robot by finite element and institutions. The relationship of main agency rod movement of displacement, acceleration and time are analyzed, which makes robot control effective and easy to control.This paper design water recycling and cleaning roller brush in the whole cleaning whole system to improve work more efficiently and reduce the weight of the robot; A new kind of the pneumatic and chuck group adsorption structure is designed in the adsorption climbing robot system, which make whole compact structure, high obstacle-navigation and wildly used in the type of wall; The robot path planning use annular path and make robots surface-cleaning wildly to cover area. It works efficiency and can avoid secondary pollution; Through the use of 3d software UG of designing of the robot simulation model to verify the feasibility of the robot mechanism and improve the system reliability and the integrity of the design.