Design And Research Of Glass Curtain Cleaning Robot

With the continuous development of robot technology,the glass curtain wall cleaning robot has become the focus of domestic and foreign research as a clean elf for the development of modern cities.In this paper,in view of the current situation that most of the curtain walls are cleaned manually in China,a robot which can replace the artificial glass curtain wall cleaning is designed.The robot can move on the surface of the vertical glass curtain wall,and complete the cleaning task of most of the curtain wall,which changes the disadvantages of the low efficiency and danger of the current curtain wall cleaning operation.This paper researched and designed a glass curtain wall cleaning robot which adopts screw drive,clamping device alternately advances,double roller brushed wastewater recovery device.The working principle of this robot is introduced in detail.For the structural characteristics of the robot's moving mechanism,clamping mechanism and cleaning mechanism,the single-chip computer was selected to control the robot and the control system was designed.On this basis,the key components are designed and calculated to determine the main dimensions as well as the standard parts are selected.After determining the main structure and its size parameters,a three-dimensional modeling software was used to build a robot part model and to obtain a threedimensional model of the robot.The finite element analysis software ANSYS Workbench was used to simulate,which analyze the key components of the robot.Through the static analysis and modal analysis of the stress conditions of the key components,a more reasonable and more reliable scheme was proposed to verify the design.The virtual simulation software ADAMS was used to simulate the movement of the robot.By using the Step step function to define the motion and load and simulate the movement of the virtual prototype,the force curve of the clamping claw,the speed curve of the cylinder connecting rod,the tension spring were obtained.Deformation and velocity curves,as well as the displacement and velocity curves of the upper plate and the lower plate,are compared with the theoretical values,so that the robot is more complete,safe and reasonable in structure.The robot's control system was designed.The mainstream Cortex core STM32 MCU was used to design the motor powertrain module,power supply module,inductive sensor module,solenoid valve part,the control schematic,PCB circuit,complete the programming of the robot movement in order to realize the movement of the cleaning robot.