| Surface of high-rise buildings in modern cities mostly adopts the structure of ceramic tile or glass curtain wall structure.Because the building surface is perennial exposed,it needs cleaning maintenance.So far,this kind of work is still carried out by people who work high above the ground with hanging basket.Obviously,this kind of operation way is a great danger to the personal safety and building wall,and is also with low efficiency and high cost.Therefore,the market is in urgent need of a glass curtain wall cleaning robot.It can move to any part of the vertical plane.At the same time,it has flexible operation,high reliability and good cleaning effect,so it can be instead of dangerous manual operation mode.Based on the automatic needing of tall building glass curtain wall cleaning job,a structure design of glass curtain wall cleaning robot is put forward in the paper.Rational distribution of function module,detailed design of the robot body which can walk on glass curtain wall and cleaning equipment are given,and the simulation analysis for the key parts is carried out to verify its performance in theory.The main research contents of this paper are as follows:1.Based on structure features of glass curtain wall and the analysis of typical glass curtain wall cleaning robot's walking systems at home and abroad,a kind of sucker adsorption principle with electric draw stem and mechanism scheme is proposed.Movement requirements of legs are determined by aiming at crossing the common obstacles such as the window arris,and the walking stability mechanism in the process of obstacle negotiation is analyzed.2.Comparing several kinds of typical glass curtain wall cleaning methods,a kind of glass curtain wall cleaning system scheme based on the water mist spraying with disc brushing and rolling cleaning is put forward,and also the transmission mechanism scheme is determined.3.Aiming at two kinds of adsorption state of sucker and the wall in the process of walking,the statics of walking system is established.Based on principle of microscopic cleaning,the necessary pressure of completing the cleaning with rolling and disc brushes is quantified.4.Virtual prototype of glass curtain wall cleaning robot body is built.Based on the finite element method and considering of the influence of wind load,the simulation analysis of static and dynamic characteristics of glass curtain wall cleaning robot body in the two kinds of adsorption state is completed.5.Based on the theory of flexible body,dynamic analysis of flexible body of the belt drive in the rolling brush system is completed and the influence of the belt drive vibration on the rolling brush cleaning is determined. |
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