Structure Design And Key Technology Research Of Magnetically Adsorbed Window Cleaning Robot

With the rapid development of urban modernization,high-rise buildings have also become a symbol of rapid economic development.As a result,the high-rise glass cleaning has become a challenge.The existing cleaning methods all rely on manpower cleaning,the cost is high,the efficiency is low and the safety factor is low,which promotes the development of the window cleaning robotsmarket.It has become a trend to replace the manpower with the robot cleaning method.The subject come s from the practical application,aimed at the study of a low cost,high efficiency,intelligent magnetic adsorption wheel single-sided window cleaning robot which can be applied to commercial windows,floor windows and home windows and other glass cleaning work.First,this paper analyzes and compares the existing window-wiping robots at home and abroad,comprehensively considers the key technologies of the wiping window robots,and proposes a robot design scheme,which mainly includes a magnetic adsorption structure,a drive structure,a probe frame structure and a wipe structure,and finally Complete the three-dimensional design of the virtual prototype.Secondly,the statics and dynamics of the robot are analyzed,and the relationship between the robot's magnetic attraction and heading angle is established,which provides a theoretical basis for the optimal selection of magnets.Based on the introduction of vehicle dynamics theory,a single drive wheel is subjected to force analysis to establish the relationship between the motor torque and slip rate,heading angle model,providing a theoretical reference for motor torque selection.The Pfaffian equation is used as the motion constraint equation.The dynamic equations are established for the whole machine.The motion simulation of the whole machine is simulated using ADAMS.The momentary accelerations of the linear movement trajectory and the collision are studied to provide reference for robot motion control.Use ANSYS Wrokbench to analyze the finite element of the motor mounted on the active surface of the robot to ensure that the deformation and stiffness of the motor installation structure are within the allowable range.Then,in the Ansoft Maxwell,the permanent magnet model of the magnetic adsorption module is established,the relationship between the magnetic force and the geometric size(radius,thickness)and working distance of the permanent magnet is analyzed.The variationlaw of the magnetic force is analyzed from the parameter curve to optimize the analysis of the utilization rate of the magnet.In the case of the same magnetic force,select the magnet with the smallest mass.Simulate and analyze the effect of magnet arrangement on the magnetic force and select the appropriate arrangement.The yoke iron ferromagnetic and paramagnetic simulation analysis to study the influence of the yoke on the magnetic force of the magnet.It can provide a theoretical basis for the design of magnet modules used in different thickness glass cleaning robots in the future.Finally,robotic prototypes were made and the experimental results were used to verify the accuracy of the previous design and theories.The experimental results show that the robot's magnetic adsorption capacity,sports performance and wiping ability meet the design requirements.