Research On The Mechanical Structure Of Vacuum Adsorb Style Wall-Cleaning Robot For Wallcleaning

The wall-cleaning robot is a kind of robot which can work in the vertical-wall.As an automatic contrivance,many and many people had Attached weight to it. Although the wall-climbing robot has been carrying out in the field of robotic system for many years, but the research is focused on the design of the mechanism and control system.In this dissertation, firstly, based on the existing achievement of studying on the wall-climbing robot in the world, integrating the characteristics of high glass-curtain cleaning, further studies the common problem of wall cleaning robot. such as the technology of adhering and cleaning. proposes a newroboticized structure named self-scrambled structure, and further investigates some key issues about self-scrambled robot, such as the designing of structure and figure. The main contents of the thesis are as follows.Firstly,the technology about adhering to the wall of wall-cleaning robot isfurther investigated. On the basis of summarizing and analyzing the adhering technology of wall cleaning robot in the past, sets up a adhering mechanics of wall-cleaning robot, thus makes the adhering analysis of wall-cleaning robot more ocular and more clear, moreover,Secondly, he structure of self-scramble wall-cleaning robot and design principal is investigated. On the basis of analyzing the restraint condition and basic function of wall-cleaning robot, forward the self-scramble structure is put, as well as the mechanical characteristics and design principal. The self-scramble structure, and theoretical foundation for the structure designing of this kind robot is offered.Thirdly, combining the material function demand of vacuum adsorb style wall-cleaning robot, robot’s control system structure is set up.Otherwise, the realization of hardware structure is introduced, as well as control task and control technology, such as how software deals with the whole control flow、 the design of control joint, and so on.Finally, on the really imitate curtain wall of office building, makes use of the manufacturing vacuum adsorb style wall-cleaning robot carrying on the movement function and cleaning experiment, the result proves the exactness of design principle and theory analysis.