New Carrier Fashion Wall-cleaning Robot For High-rise Buildings

In using Wall-cleaning Robots for high-rise buildings, as the mean ofwall-cleaning automation process, two key technique questions should be solved.They are carrier fashion and wall-cleaning technique. A kind of more reliable,adaptable to more walls, more efficient wall-cleaning robot is designed in thisdissertation.Based on having read lots of home and abroad reference materials and analyzedsystemly the development situation of wall-climbing robots including wall-cleaningrobots for skyscrapers, this paper puts forward a new type of carrier fashion. And inthis paper, the Serial-Cable Control Wall-cleaning Robot for High-rise Buildings isdeveloped after analyzing the technique difficulties in theory and practicaldevelopment with the consideration of technique application.The cleaning system of the serial-cable control wall-cleaning robot is designed indetails in this paper. It consists of cleaning device, fan propulsion device, hydraulicpressure lift device and bottom wheels device. On the basis of this design,thekinematics and dynamics is analyzed and the compensation method for run deflectionis given with the consideration of wind.In addition, the control scheme of the wall-cleaning robot is studied in thisdissertation. Considering the construction and running features of robot, this paperadapts the distributing control mode .It guarantees the realiability and practicality ofthe whole robot system.It is quite urgent to solve the carrier fashion problem. In this paper, cable in-parallel and in-serial control carrier fashions are analyzed, which provides the theoryreference for not only this kind of carrier fashion robot but also others.