Structural Design And Key Technical Research Of Window Cleaning Robot

Window cleaning robot(WCR),as a kind of service robots,will make the cleaning of large-area windows simple.Because of high cleaning efficiency and low costs compared to manual cleaning,WCR has an application value and commercial prospects.A small single-side WCR was developed to meet the practical application,which was applied to French windows,shop windows and other large-area glass.According to the application requirements,the technical scheme of the single-side WCR was proposed,which includes the structures of negative-pressure adsorption,track drive,cleaning module and grating wheel detection,etc.The virtual prototype was designed.The model of negative-pressure adsorption force and driving wheel's torque was established by static and dynamic analysis.The dynamic equation of WCR was established by Pfaffian constraint equation.The motion as WCR walking on the window surface was simulated by ADAMS.The basis for motion control of WCR was provided.The key loading part was designed by ANSYS multi-objective optimization,which ensured the stiffness high and weight light.The negative-pressure adsorption system(NAS)was simplified,and the modeling method of NAS in steady state was proposed by flow field analysis and fluid dynamics.The modeling method of NAS in dynamic state was proposed based on RC equivalent model and bond graph method,which made the analysis of dynamic response simplified.The steady-state flow field distribution of NAS was simulated by Fluent,the relationship between structural parameters of negative-pressure cavity and fluid variables are obtained,the matching method between NAS and centrifugal fan was proposed.Finally,the prototype of single-side WCR was developed,and the accuracy of the theoretical analysis was verified by experiment.The safety adsorption characteristic,motion ability and cleaning effect were excellent,which met the design requirements.