Based On The Magnetic Adsorption Double-sided Wipe Glass Robot Design

With the development of urban modernization,more and more high-rise buildings have been constructed in cities.At the same time it also brings many difficulties to the glass wall cleaning.Structure represented by the glass wall gradually transformed into the magnificent “city appearance”.Thus it derives heavy tasks of glass wall cleaning.The wall cleaning of existing high-rise building mostly use the artificial operation way of "a bucket of water,a piece of rope,a piece of board",which has the disadvantage of low working efficiency,big labor intensity,high cost,high-risk.So,the way of wall cleaning robot has been paid more and more attention.It can effectively free people from dangerous and heavy physical labor in the upper air,which is also the future development trend of the cleaning job.The study of wall cleaning robot has become one of the highlights in the universities and enterprises.This article mainly aims at the research and design of wall cleaning robot.According to the shortcomings of the existing wall cleaning robot,this paper proposes a scheme of permanent magnetic adsorption with height adjustable,wheeled mobile main structure,which mainly solve the problem of turning inflexible and poor cleaning effect of glass edge.Firstly,based on the analysis of the adsorption method and the moving way,the scheme of permanent magnetic adsorption and wheeled mobile structure is developed.Secondly,the force of the wall cleaning robot in glass wall is analyzed,and the other aspects are considered such as appearance size,overall structure,and so on.The detailed parameters of robot cleaner are determined like: motor,tires,batteries,etc.The parts drawing and assembly drawing is made by 3d software UG,which lays theoretical foundation for the subsequent prototype production.Then,the kinematics simulation of the robot is analyzed under different walking pattern through the ADAMS.The torque change curve of drive motor under different mode is achieved,and it provides the theory basis for the physical prototype of design,optimization and control,etc.Finally,using ANSYS to establish permanent magnet model,analyze the permanent magnet size(length,width and height),the arrangement space,work space and arrangement on the influence of adsorption.The related parameters and the adsorption law are deduced through parameter curves.To achieve the lightweight design of robot,the finite element analysis software ANSYS Workbench is used to optimize the key weighing parts.In order to verify the correctness,the test prototype is manufactured.