Design And Study Of Cleaning Robot For High-rise Building Curtain Wall

With the development of urban modernization,more and more high-rise buildings are decorated with glass curtain walls.Thus,the wall cleaning industry with high risk factor and harsh working environment is derived.At present,the cleaning of the wall surface of high-rise buildings is done manually,and the use of elevators and other equipment to achieve manned mobile function,this way not only contains huge danger,and low cleaning efficiency.Therefore,this paper designs and studies a high-rise building wall cleaning robot to replace human to complete the high-rise building wall cleaning operation.Based on the analysis of the research on the wall cleaning robot at home and abroad,it is concluded that the cleaning robot must have the following functions: able to adsorb on the wall to complete the cleaning work and able to move flexibly and stably and over obstacles.Based on the design index of light weight and strong obstacle jumping ability,a robot cleaning system for the wall surface of high-rise buildings was innovated,including adsorption system,cleaning system,moving system and control system.The adsorption system adopts the four-rotor structure of the uav and improves the posture of the propeller,so that the negative pressure can be balanced with the reverse torque caused by moving or crossing obstacles,and the stable movement can be realized.The negative angle wall surface can be adsorbed effectively by the effective control of pressure.The cleaning system uses the atomizing nozzle to realize the cleaning function of the robot.By calculating the optimal distance between the nozzle and the wall surface,the water mist can contact the wall surface to the maximum extent,and the robot can clean the wall surface without dead angle.The mobile system realizes the mobile function of the robot by using the auxiliary lifting device on the roof,and achieves the expected movement of the robot in the vertical and horizontal directions.The control system uses dual control units to realize the control function of the robot,and the Arduino control board and the uav flight control respectively realize the effective control of the roller brush and the four rotors.Based on the above design and analysis,making the high buildings wall cleaning robot prototype,because the prototype for early generation of aircraft,so the cleaning system and the top of the auxiliary lifting device for the omitted,respectively,completed the rotor thrust experiment,experiment and the effect of cleaning robot obstacle-navigation experiment,verified the wall cleaning robot in the adsorption performance of complex surface conditions and cleaning performance to achieve the desired cleaning effect has good market application prospect.