Research On The Crawling-along-the-wall Robot For Cleaning And Painting On The Outside Wall Of Tall Building

This paper, is engaged in the research of the key techniques and methods used for the construction design of the crawling-along-the-wall robot for cleaning and painting on the outside wall of tall buildings. This robot promises a wide utilization in the near future.The author has consulted the internal and external literature about crawling-along-the-wall robots, compared and analyzed the attaching mechanisms and thus gave an overview on the recent development of the research about the crawling-along-the-wall robot used for cleaning and painting on the outside wall of tall buildings.Based on the analysis and synthetic study ,the author draws out a program in which the robot is attached to the wall by the propeller thrust, runs on wheels, and, is pulled by the movable cable on top of the roof the control is accomplished by PLC, and the cable is parked according to "8"-shape.This design solves successfully a series key techniques, such as the consistent attachment force, the ability of easily passing over obstacles the reliable transmission of control signal, the good adaptability to painted environment, etc.In the paper, a mechanical model for the movement of the robot is established. With the help of the air dynamic theory of helicopter propeller and propeller fan ,the author has completed the structure design of the propellant attaching mechanism.All direction walking mechanism used in crawling-wall robot is researched in this paper. The mechanics and kinematics of a all direction walking mechanism called macadam type is analyzed profoundly. It is structure design and calculation is completed. This calculation could be an important basis for designing all direction walking mechanism...