Mechanism Design And Kinematic Performance's Simulation Analysis Of Wall Cleaning Robot With Track-suckers Locomotion System

The external surfaces of the modern high-rise buildings are mostly decorated with the ceramic or glass curtain wall structures.Because of being exposed to the air all the time,the wall surfaces can easily be polluted by dust and rain,so it is necessary to clean the wall surfaces on time.Now,the wall surfaces cleaning of high-rise buildings currently is mostly based on artificial way.This way needs workers use cleaning tools and stand on the suspension devices,so is unsafe and inefficient.In order to replace the way of artificial cleaning,a kind of wall cleaning robots are being urgent in need---which can walk on wall surfaces and do the cleaning automatically,and have good adaptability to the wall surfaces and higher cleaning efficiency.Based on the demand of automatic wall cleaning,a structure design scheme of wall cleaning robot is put forward in the paper.The detailed design of main function modules of the robot is given,and the simulation analysis for the key parts is carried out to verify its performance theoretically.The main research contents of this paper are as follows: 1)Based on the demand of cleaning the high-rise buildings' wall surfaces and the analysis of typical wall cleaning robot's walking systems at home and abroad,the walking principle and the structure program of a track-suckers walking system are put forward.A new vacuum allocation valve is proposed and designed,which can realize the cooperation between the walking and adsorbing.2)A cleaning system is established,which is based on spray nozzle and rolling brush and contains the functions of sewage recycle and two-way cleaning.3)The detailed design of the other function module of the wall cleaning robot is carried out,and the schemes of the driving system and the transmission system are determined.4)For the environment conditions of considering or not considering wind load,the static analysis for the wall cleaning robot body are carried out,and the condition that the adsorption force of robot body should satisfy is determined.5)The virtual prototype of wall cleaning robot body is established.Based on the finite element analysis,a simulation is carried out to analysis the character of statics and dynamics of the wall cleaning robot body in the environment condition of the critical wind load.The adsorbing reliability and the stress condition of robot's body are checked,and the modal analysis of the robot's body is carried out.The result provides the development and application basis for this type of cleaning robot prototype.